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More formatting and cast fixes

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This commit is contained in:
Lorenz Meier
2014-10-28 13:14:37 +01:00
parent 1418254fca
commit fd4418278e
1 changed files with 11 additions and 24 deletions
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src/drivers/px4flow/px4flow.cpp
+11 -24
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@@ -145,9 +145,9 @@ protected:
private:
work_s _work;
RingBuffer *_reports;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _px4flow_topic;
@@ -249,7 +249,8 @@ PX4FLOW::init()
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out: return ret;
out:
return ret;
}
int
@@ -375,8 +376,7 @@ ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf =
reinterpret_cast<struct optical_flow_s *>(buffer);
struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -413,9 +413,6 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
break;
}
// /* wait for it to complete */
// usleep(PX4FLOW_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
@@ -528,25 +525,15 @@ PX4FLOW::collect()
struct optical_flow_s report;
report.timestamp = hrt_absolute_time();
report.pixel_flow_x_integral = float(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = float(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
report.ground_distance_m = float(f_integral.ground_distance) / 1000.0f;//convert to meters
report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = f_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = float(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = float(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = float(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = f_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds
report.sensor_id = 0;