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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-18 00:10:38 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-18 00:10:38 +0400 |
commit | 068b7526b74c9bbcc31acc28f0d578ed9c0f97b1 (patch) | |
tree | 85eb32b6be0d8b7897a5393caa1164609a5f2890 /src/modules/position_estimator_inav | |
parent | c266124099fe67dcff5d5f3deeef37acebdc1695 (diff) | |
download | px4-firmware-068b7526b74c9bbcc31acc28f0d578ed9c0f97b1.tar.gz px4-firmware-068b7526b74c9bbcc31acc28f0d578ed9c0f97b1.tar.bz2 px4-firmware-068b7526b74c9bbcc31acc28f0d578ed9c0f97b1.zip |
copyright and code style fixes
Diffstat (limited to 'src/modules/position_estimator_inav')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 22 |
1 files changed, 15 insertions, 7 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 7be5ae979..fc394fda6 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 Anton Babushkin. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * Copyright (C) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +34,8 @@ /** * @file position_estimator_inav_main.c * Model-identification based position estimator for multirotors + * + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <unistd.h> @@ -95,8 +96,9 @@ static void usage(const char *reason); */ static void usage(const char *reason) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n"); exit(1); @@ -112,8 +114,9 @@ static void usage(const char *reason) */ int position_estimator_inav_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { usage("missing command"); + } if (!strcmp(argv[1], "start")) { if (thread_running) { @@ -125,8 +128,9 @@ int position_estimator_inav_main(int argc, char *argv[]) verbose_mode = false; if (argc > 1) - if (!strcmp(argv[2], "-v")) + if (!strcmp(argv[2], "-v")) { verbose_mode = true; + } thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", @@ -163,8 +167,10 @@ int position_estimator_inav_main(int argc, char *argv[]) exit(1); } -void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) { +void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) +{ FILE *f = fopen("/fs/microsd/inav.log", "a"); + if (f) { char *s = malloc(256); unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]); @@ -173,6 +179,7 @@ void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], fwrite(s, 1, n, f); free(s); } + fsync(fileno(f)); fclose(f); } @@ -505,8 +512,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* if flow is not accurate, reduce weight for it */ // TODO make this more fuzzy - if (!flow_accurate) + if (!flow_accurate) { w_flow *= 0.05f; + } flow_valid = true; |