fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 17:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

events: fix code style issues

Browse Source
This commit is contained in:
Paul Riseborough
2017-02-12 09:21:37 +01:00
committed by Lorenz Meier
parent 9858b0b491
commit 1f4155c208
6 changed files with 29 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/events/temperature_calibration/accel.cpp
+4 -1
View File
@@ -45,7 +45,8 @@
#include <mathlib/mathlib.h>
#include <drivers/drv_hrt.h>
TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
TemperatureCalibrationAccel::TemperatureCalibrationAccel(float min_temperature_rise, float min_start_temperature,
float max_start_temperature)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{
@@ -121,6 +122,7 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
// If intial temperature exceeds maximum declare an error condition and exit
if (data.sensor_sample_filt[3] > _max_start_temperature) {
return -110;
} else {
data.cold_soaked = true;
data.low_temp = data.sensor_sample_filt[3]; // Record the low temperature
@@ -128,6 +130,7 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
data.ref_temp = data.sensor_sample_filt[3] + 0.5f * _min_temperature_rise;
return 1;
}
} else {
return 1;
}
src/modules/events/temperature_calibration/baro.cpp
+4 -1
View File
@@ -45,7 +45,8 @@
#include <mathlib/mathlib.h>
#include <drivers/drv_hrt.h>
TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
TemperatureCalibrationBaro::TemperatureCalibrationBaro(float min_temperature_rise, float min_start_temperature,
float max_start_temperature)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{
@@ -109,6 +110,7 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
// If intial temperature exceeds maximum declare an error condition and exit
if (data.sensor_sample_filt[1] > _max_start_temperature) {
return -110;
} else {
data.cold_soaked = true;
data.low_temp = data.sensor_sample_filt[1]; // Record the low temperature
@@ -116,6 +118,7 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
data.ref_temp = data.sensor_sample_filt[1] + 0.5f * _min_temperature_rise;
return 1;
}
} else {
return 1;
}
src/modules/events/temperature_calibration/common.h
+9 -3
View File
@@ -54,7 +54,8 @@ class TemperatureCalibrationBase
{
public:
TemperatureCalibrationBase(float min_temperature_rise, float min_start_temperature, float max_start_temperature)
: _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature), _max_start_temperature(max_start_temperature) {}
: _min_temperature_rise(min_temperature_rise), _min_start_temperature(min_start_temperature),
_max_start_temperature(max_start_temperature) {}
virtual ~TemperatureCalibrationBase() {}
@@ -126,11 +127,14 @@ public:
for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) {
int status = update_sensor_instance(_data[uorb_index], _sensor_subs[uorb_index]);
if (status == -1) {
return -1;
} else if (status == -110) {
return -110;
}
num_not_complete += status;
}
@@ -159,12 +163,14 @@ protected:
polyfitter < PolyfitOrder + 1 > P[Dim];
unsigned hot_soak_sat = 0; // counter that increments every time the sensor temperature reduces from the last reading
uint32_t device_id = 0; // ID for the sensor being calibrated
bool cold_soaked = false; // true when the sensor cold soak starting temperature condition had been verified and the starting temperature set
bool cold_soaked =
false; // true when the sensor cold soak starting temperature condition had been verified and the starting temperature set
bool hot_soaked = false; // true when the sensor has achieved the specified temperature increase
bool tempcal_complete = false; // true when the calibration has been completed
float low_temp = 0.f; // low temperature recorded at start of calibration (deg C)
float high_temp = 0.f; // highest temperature recorded during calibration (deg C)
float ref_temp = 0.f; // calibration reference temperature, nominally in the middle of the calibration temperature range (deg C)
float ref_temp =
0.f; // calibration reference temperature, nominally in the middle of the calibration temperature range (deg C)
};
PerSensorData _data[SENSOR_COUNT_MAX];
src/modules/events/temperature_calibration/gyro.cpp
+4 -1
View File
@@ -44,7 +44,8 @@
#include "gyro.h"
#include <drivers/drv_hrt.h>
TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, float max_start_temperature, int gyro_subs[], int num_gyros)
TemperatureCalibrationGyro::TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature,
float max_start_temperature, int gyro_subs[], int num_gyros)
: TemperatureCalibrationCommon(min_temperature_rise, min_start_temperature, max_start_temperature)
{
for (int i = 0; i < num_gyros; ++i) {
@@ -108,6 +109,7 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
// If intial temperature exceeds maximum declare an error condition and exit
if (data.sensor_sample_filt[3] > _max_start_temperature) {
return -110;
} else {
data.cold_soaked = true;
data.low_temp = data.sensor_sample_filt[3]; // Record the low temperature
@@ -115,6 +117,7 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
data.ref_temp = data.sensor_sample_filt[3] + 0.5f * _min_temperature_rise;
return 1;
}
} else {
return 1;
}
src/modules/events/temperature_calibration/gyro.h
+2 -1
View File
@@ -39,7 +39,8 @@
class TemperatureCalibrationGyro : public TemperatureCalibrationCommon<3, 3>
{
public:
TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, float max_start_temperature, int gyro_subs[], int num_gyros);
TemperatureCalibrationGyro(float min_temperature_rise, float min_start_temperature, float max_start_temperature,
int gyro_subs[], int num_gyros);
virtual ~TemperatureCalibrationGyro() {}
/**
src/modules/events/temperature_calibration/task.cpp
+6 -1
View File
@@ -161,7 +161,8 @@ void TemperatureCalibration::task_main()
}
if (_gyro) {
calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, max_start_temp, gyro_sub, num_gyro);
calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, min_start_temp, max_start_temp, gyro_sub,
num_gyro);
if (calibrators[num_calibrators]) {
++num_calibrators;
@@ -184,6 +185,7 @@ void TemperatureCalibration::task_main()
hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;
bool abort_calibration = false;
while (!_force_task_exit) {
/* we poll on the gyro(s), since this is the sensor with the highest update rate.
* Each individual sensor will then check on its own if there's new data.
@@ -213,15 +215,18 @@ void TemperatureCalibration::task_main()
for (int i = 0; i < num_calibrators; ++i) {
ret = calibrators[i]->update();
if (ret == -110) {
abort_calibration = true;
PX4_ERR("Calibration won't start - sensor temperature too high");
_force_task_exit = true;
break;
} else if (ret < 0 && !error_reported[i]) {
// temperature has decreased so calibration is not being updated
error_reported[i] = true;
PX4_ERR("Calibration update step failed (%i)", ret);
} else if (ret < min_progress) {
// temperature is stable or increasing
min_progress = ret;