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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-11 13:36:51 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-11 13:36:51 +0200 |
commit | 349809f5353d70eb9d569a267165e0f1b2054e02 (patch) | |
tree | cd103bc348a5e57a152945a36e79f73cad7789bb /src/modules/sensors | |
parent | 88b18bbad1be31cf31ff964c6cf6f3123948488d (diff) | |
download | px4-firmware-349809f5353d70eb9d569a267165e0f1b2054e02.tar.gz px4-firmware-349809f5353d70eb9d569a267165e0f1b2054e02.tar.bz2 px4-firmware-349809f5353d70eb9d569a267165e0f1b2054e02.zip |
sensors, commander: code style fixed
Diffstat (limited to 'src/modules/sensors')
-rw-r--r-- | src/modules/sensors/sensors.cpp | 102 |
1 files changed, 70 insertions, 32 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index a02e8187d..c561d1c0a 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -220,8 +220,8 @@ private: struct differential_pressure_s _diff_pres; struct airspeed_s _airspeed; - math::Matrix<3,3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ - math::Matrix<3,3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ + math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */ + math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */ bool _mag_is_external; /**< true if the active mag is on an external board */ uint64_t _battery_discharged; /**< battery discharged current in mA*ms */ @@ -644,8 +644,9 @@ Sensors::parameters_update() } /* handle wrong values */ - if (!rc_valid) + if (!rc_valid) { warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); + } const char *paramerr = "FAIL PARM LOAD"; @@ -701,19 +702,19 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)); param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr)); param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th)); - _parameters.rc_assist_inv = (_parameters.rc_assist_th<0); + _parameters.rc_assist_inv = (_parameters.rc_assist_th < 0); _parameters.rc_assist_th = fabs(_parameters.rc_assist_th); param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); - _parameters.rc_auto_inv = (_parameters.rc_auto_th<0); + _parameters.rc_auto_inv = (_parameters.rc_auto_th < 0); _parameters.rc_auto_th = fabs(_parameters.rc_auto_th); param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th)); - _parameters.rc_posctl_inv = (_parameters.rc_posctl_th<0); + _parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0); _parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th); param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); - _parameters.rc_return_inv = (_parameters.rc_return_th<0); + _parameters.rc_return_inv = (_parameters.rc_return_th < 0); _parameters.rc_return_th = fabs(_parameters.rc_return_th); param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th)); - _parameters.rc_loiter_inv = (_parameters.rc_loiter_th<0); + _parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0); _parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th); /* update RC function mappings */ @@ -843,12 +844,14 @@ Sensors::gyro_init() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 /* set the gyro internal sampling rate up to at least 1000Hz */ - if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) + if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) { ioctl(fd, GYROIOCSSAMPLERATE, 800); + } /* set the driver to poll at 1000Hz */ - if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) + if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) { ioctl(fd, SENSORIOCSPOLLRATE, 800); + } #else @@ -903,12 +906,15 @@ Sensors::mag_init() ret = ioctl(fd, MAGIOCGEXTERNAL, 0); - if (ret < 0) + if (ret < 0) { errx(1, "FATAL: unknown if magnetometer is external or onboard"); - else if (ret == 1) + + } else if (ret == 1) { _mag_is_external = true; - else + + } else { _mag_is_external = false; + } close(fd); } @@ -1008,10 +1014,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw) math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); - if (_mag_is_external) + if (_mag_is_external) { vect = _external_mag_rotation * vect; - else + + } else { vect = _board_rotation * vect; + } raw.magnetometer_ga[0] = vect(0); raw.magnetometer_ga[1] = vect(1); @@ -1129,8 +1137,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.gyro_scale[2], }; - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) { warn("WARNING: failed to set scale / offsets for gyro"); + } close(fd); @@ -1144,8 +1153,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.accel_scale[2], }; - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) { warn("WARNING: failed to set scale / offsets for accel"); + } close(fd); @@ -1159,8 +1169,9 @@ Sensors::parameter_update_poll(bool forced) _parameters.mag_scale[2], }; - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) { warn("WARNING: failed to set scale / offsets for mag"); + } close(fd); @@ -1174,8 +1185,10 @@ Sensors::parameter_update_poll(bool forced) 1.0f, }; - if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) + if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { warn("WARNING: failed to set scale / offsets for airspeed sensor"); + } + close(fd); } @@ -1193,10 +1206,12 @@ void Sensors::adc_poll(struct sensor_combined_s &raw) { /* only read if publishing */ - if (!_publishing) + if (!_publishing) { return; + } hrt_abstime t = hrt_absolute_time(); + /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ @@ -1221,6 +1236,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) if (voltage > BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_v = voltage; + /* one-time initialization of low-pass value to avoid long init delays */ if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) { _battery_status.voltage_filtered_v = voltage; @@ -1239,19 +1255,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* handle current only if voltage is valid */ if (_battery_status.voltage_v > 0.0f) { float current = (buf_adc[i].am_data * _parameters.battery_current_scaling); + /* check measured current value */ if (current >= 0.0f) { _battery_status.timestamp = t; _battery_status.current_a = current; + if (_battery_current_timestamp != 0) { /* initialize discharged value */ - if (_battery_status.discharged_mah < 0.0f) + if (_battery_status.discharged_mah < 0.0f) { _battery_status.discharged_mah = 0.0f; + } + _battery_discharged += current * (t - _battery_current_timestamp); _battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f; } } } + _battery_current_timestamp = t; } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { @@ -1284,7 +1305,9 @@ Sensors::adc_poll(struct sensor_combined_s &raw) } } } + _last_adc = t; + if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) { /* announce the battery status if needed, just publish else */ if (_battery_pub > 0) { @@ -1303,6 +1326,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max { if (_rc.function[func] >= 0) { float value = _rc.chan[_rc.function[func]].scaled; + if (value < min_value) { return min_value; @@ -1312,6 +1336,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max } else { return value; } + } else { return 0.0f; } @@ -1322,6 +1347,7 @@ Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1342,6 +1368,7 @@ Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1380,13 +1407,15 @@ Sensors::rc_poll() /* check failsafe */ int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle - if (_parameters.rc_map_failsafe>0){ // if not 0, use channel number instead of rc.function mapping + + if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping fs_ch = _parameters.rc_map_failsafe - 1; } + if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || - (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { + (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } @@ -1395,8 +1424,9 @@ Sensors::rc_poll() unsigned channel_limit = rc_input.channel_count; - if (channel_limit > _rc_max_chan_count) + if (channel_limit > _rc_max_chan_count) { channel_limit = _rc_max_chan_count; + } /* read out and scale values from raw message even if signal is invalid */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1404,11 +1434,13 @@ Sensors::rc_poll() /* * 1) Constrain to min/max values, as later processing depends on bounds. */ - if (rc_input.values[i] < _parameters.min[i]) + if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; + } - if (rc_input.values[i] > _parameters.max[i]) + if (rc_input.values[i] > _parameters.max[i]) { rc_input.values[i] = _parameters.max[i]; + } /* * 2) Scale around the mid point differently for lower and upper range. @@ -1440,8 +1472,9 @@ Sensors::rc_poll() _rc.chan[i].scaled *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) + if (!isfinite(_rc.chan[i].scaled)) { _rc.chan[i].scaled = 0.0f; + } } _rc.chan_count = rc_input.channel_count; @@ -1623,8 +1656,9 @@ Sensors::task_main() diff_pres_poll(raw); /* Inform other processes that new data is available to copy */ - if (_publishing) + if (_publishing) { orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); + } /* Look for new r/c input data */ rc_poll(); @@ -1661,18 +1695,21 @@ Sensors::start() int sensors_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: sensors {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (sensors::g_sensors != nullptr) + if (sensors::g_sensors != nullptr) { errx(0, "already running"); + } sensors::g_sensors = new Sensors; - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "alloc failed"); + } if (OK != sensors::g_sensors->start()) { delete sensors::g_sensors; @@ -1684,8 +1721,9 @@ int sensors_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (sensors::g_sensors == nullptr) + if (sensors::g_sensors == nullptr) { errx(1, "not running"); + } delete sensors::g_sensors; sensors::g_sensors = nullptr; |