fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 17:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Minor style changes

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