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Minor style changes

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This commit is contained in:
Lorenz Meier 2013-08-17 18:48:14 +02:00
parent 74802f0692
commit 628e806df5
1 changed files with 10 additions and 9 deletions
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19
src/modules/sensors/sensors.cpp
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@ -139,8 +139,8 @@
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
/**
* Enum for board and external compass rotations
* copied from https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Math/rotations.h
* Enum for board and external compass rotations.
* This enum maps from board attitude to airframe attitude.
*/
enum Rotation {
ROTATION_NONE = 0,
@ -261,8 +261,8 @@ private:
int _mag_sub; /**< raw mag data subscription */
int _rc_sub; /**< raw rc channels data subscription */
int _baro_sub; /**< raw baro data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _airspeed_sub; /**< airspeed subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
@ -282,8 +282,8 @@ private:
struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed;
math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
struct {
float min[_rc_max_chan_count];
@ -291,7 +291,6 @@ private:
float max[_rc_max_chan_count];
float rev[_rc_max_chan_count];
float dz[_rc_max_chan_count];
// float ex[_rc_max_chan_count];
float scaling_factor[_rc_max_chan_count];
float gyro_offset[3];
@ -343,7 +342,6 @@ private:
param_t max[_rc_max_chan_count];
param_t rev[_rc_max_chan_count];
param_t dz[_rc_max_chan_count];
// param_t ex[_rc_max_chan_count];
param_t rc_type;
param_t rc_demix;
@ -874,7 +872,7 @@ Sensors::accel_init()
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
#else
#elif CONFIG_ARCH_BOARD_PX4FMU_V2
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@ -882,6 +880,9 @@ Sensors::accel_init()
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
#else
#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
#endif
warnx("using system accel");