docs: fix all end of file newlines

Note: Some files are autogenerated and I did not yet go through each source of generation to fix it there. Instead I adjusted the filter to only exclude those such that we can fix things in steps.
2026-05-31 10:26:52 +08:00 · 2025-03-18 11:28:14 +01:00
parent e9bac962ab
commit 2bc04f91f8
90 changed files with 173 additions and 193 deletions
@@ -31,16 +31,16 @@
    %===================================================================================
    % TIKZ PX4 CONTROLLERS
    %===================================================================================
-    
+
    \begin{figure}[h]
      \centering
-    
+
      % Define distances
      \def\blockheight{7em}
      \def\largeblockheight{1.45*\blockheight}
      \def\blockwidth{3.9em}
      \def\nodesep{1.15*\blockwidth}
-    
+
      \footnotesize
      \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
          simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, text width=\blockwidth, minimum height=\blockheight},
@@ -50,82 +50,82 @@
      ]
        \hspace{-1.05cm}
        %===================================================================================
-        
+
        % Reference
        \node (ref) [] {};
-        
+
        % Position controller
        \path (ref.east)+(0.85*\nodesep,0) node (pos_ctrl) [simple_block] {Position Control};
        \path (pos_ctrl.north)+(0,0) node (pos_ctrl_text) [no_border_block, anchor=south] {\textbf{P}};
        \path (pos_ctrl.south)+(0.65*\nodesep, -0.075*\blockheight) node (pos_ctrl_freq_text) [no_border_block, anchor=north] {50 Hz};
-        
+
        % Velocity controller
        \path (pos_ctrl.east)+(0.85*\nodesep,0) node (vel_ctrl) [simple_block] {Velocity Control};
        \path (vel_ctrl.north)+(0,0) node (vel_ctrl_text) [no_border_block, anchor=south] {\textbf{PID}};
-        
+
        % Acceleration to Attitude
        \path (vel_ctrl.north east)+(1.1*\nodesep,0) node (force_2_att) [larger_block, text width=5.6em] {Acceleration and Yaw to Attitude};
-      
+
        % Inertial Frame
        \node[fit=(pos_ctrl) (vel_ctrl)] (inertial) [frame_block] {};
        \path (inertial.south)+(0,0) node (inertial_text) [no_border_block, anchor=north] {Inertial Frame};
-        
+
        % Angle controller
        \path (force_2_att.north east)+(0.95*\nodesep,0) node (angle_ctrl) [simple_block, anchor=north] {Angle Control};
        \path (angle_ctrl.north)+(0,0) node (angle_ctrl_text) [no_border_block, anchor=south] {\textbf{P}};
        \path (angle_ctrl.south)+(0, -0.075*\blockheight) node (angle_ctrl_freq_text) [no_border_block, anchor=north] {250 Hz};
-        
+
        % Angular Rate controller
        \path (angle_ctrl.east)+(0.9*\nodesep,0) node (ang_vel_ctrl) [simple_block] {Angular Rate Control};
        \path (ang_vel_ctrl.north)+(0,0) node (ang_vel_ctrl_text) [no_border_block, anchor=south] {\textbf{PID}};
        \path (ang_vel_ctrl.south)+(0, -0.075*\blockheight) node (ang_vel_ctrl_freq_text) [no_border_block, anchor=north] {1 kHz};
-        
+
        % Mixer
        \path (ang_vel_ctrl.north east)+(\nodesep,0) node (mixer) [larger_block, text width=3em] {Mixer};
-        
+
        % Body Frame
        \node[fit=(angle_ctrl) (ang_vel_ctrl)] (body) [frame_block] {};
        \path (body.south)+(0,0) node (body_text) [no_border_block, anchor=north] {Body Frame};
-        
+
        \path (mixer.east)+(0.5*\nodesep,0) node (cmd) [] {};
-        
+
        %===================================================================================
-        
+
        \path[draw,->] (ref.east) -- node[anchor=south, pos=0.05, align=left] {$\bm{X}_\text{sp}$} (pos_ctrl.west);
-        
+
        \path[draw,->] (pos_ctrl.east) -- node[anchor=south] {$\bm{V}_\text{sp}$} (vel_ctrl.west);
-        
+
        \path[draw,->] (vel_ctrl.east) -- node[anchor=south, pos=0.65] {$\bm{A}_\text{sp}$} (vel_ctrl.east -| force_2_att.west);
        \path[draw,->] ([yshift=-0.25*\largeblockheight]force_2_att.west -| ref.east) -- node[anchor=south, pos=0] {$\psi_\text{sp}$} ([yshift=-0.25*\largeblockheight]force_2_att.west);
-        
+
        \path[draw,->] (force_2_att.east |- angle_ctrl.west) -- node[anchor=south, pos=0.4] {$\bm{q}_\text{sp}$} (angle_ctrl.west);
        \path[draw,->] ([yshift=-0.25*\largeblockheight]force_2_att.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.915] {$\delta_{T_\text{sp}}$} ([yshift=-0.25*\largeblockheight]mixer.west);
-        
+
        \path[draw,->] (angle_ctrl.east) -- node[anchor=south] {$\bm{\Omega}_\text{sp}$} (ang_vel_ctrl.west);
-        
+
        \path[draw,->] ([yshift=0.25*\blockheight]ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{A_\text{sp}}$} ([yshift=0.25*\blockheight]ang_vel_ctrl.east -| mixer.west);
        \path[draw,->] (ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{E_\text{sp}}$} (ang_vel_ctrl.east -| mixer.west);
        \path[draw,->] ([yshift=-0.25*\blockheight]ang_vel_ctrl.east) -- node[text centered, inner sep=2pt, anchor=south, pos=0.6] {$\delta_{R_\text{sp}}$} ([yshift=-0.25*\blockheight]ang_vel_ctrl.east -| mixer.west);
-        
+
        \path[draw,->] (mixer.east) -- node[text centered, inner sep=5pt, anchor=south] {$\bm{T}_\text{sp}$} (cmd.west);
-      
+
      \end{tikzpicture}
    \end{figure}
-    
+
    \clearpage
-    
+
    %===================================================================================
    % TIKZ ANGULAR RATE CONTROL
    %===================================================================================
-    
+
    \begin{figure}[ht]
      \centering
-    
+
      % Define distances
      \def\blockheight{2.2em}
      \def\blockwidth{2.2em}
      \def\nodesep{1.5*\blockwidth}
-    
+
      \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
        simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
        frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -138,7 +138,7 @@
            node at (sum.east) [port, left=1pt] {$#4$}
          }
        },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
          {
          % Get the width and height of the path picture node
          \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -149,11 +149,11 @@
          \tikzset{x=\x*.4, y=\y*.4}
          %
          % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
          \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
          }
        },
-        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
          {
          % Get the width and height of the path picture node
          \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -170,7 +170,7 @@
      ]
        %===================================================================================
        \node[text centered] (ref) {};
-    
+
        % Controller
        \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
        \path(ref_sum)+(\nodesep,0) node (ctrl_k) [simple_block] {$K$};
@@ -184,12 +184,12 @@
        \path(ctrl_i_gain)+(\nodesep,0) node (ctrl_sum) [sum={+}{+}{-}{}] {};
        \path(ctrl_sum)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
        \path(sat_ctrl.east)+(0.675*\nodesep,0) node (ctrl) [] {};
-    
+
        \path(ref_sum.south |- ctrl_d_filt.west)+(-\nodesep,0) node(output) [] {};
-    
+
        %===================================================================================
        \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$\Omega_\text{sp}$} (ref_sum.west);
-    
+
        \path[draw,->] (ref_sum.east) -- (ctrl_k.west);
        \path[draw,->] (ctrl_k.east) -- (ctrl_i.west);
        \path[draw,->] (output.east) |- node[anchor=south, pos=0] {$\Omega$} (ctrl_kd.west);
@@ -204,31 +204,31 @@
        \path[draw,->] (ctrl_p_gain.east) -| (ctrl_sum.north);
        \path[draw,->] (ctrl_sum.east) -- (sat_ctrl.west);
        \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$\delta_\text{sp}$} (ctrl.west);
-      
+
      \end{tikzpicture}
-    
+
    \end{figure}
-    
+
    \clearpage
-    
+
    %===================================================================================
    % TIKZ ANGLE CONTROL
    %===================================================================================
-    
+
    \begin{figure}[ht]
      \centering
      \footnotesize
-    
+
      % Define distances
      \def\blockheight{3em}
      \def\blockwidth{3em}
      \def\nodesep{2*\blockwidth}
-    
+
      \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
        simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
        text_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, text width=2*\blockwidth, minimum height=\blockheight},
        frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
            {
            % Get the width and height of the path picture node
            \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -239,17 +239,17 @@
            \tikzset{x=\x*.4, y=\y*.4}
            %
            % Draw annotation
-            \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
+            \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
            \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
            }
        },
        gain/.style = {draw, fill=light_blue, inner sep=0pt, isosceles triangle, minimum height=\blockheight, isosceles triangle apex angle=60},
      ]
        \hspace{-0.7cm}
-    
+
        %===============================================================================
        \node[text centered, yshift=0.25*\blockheight] (ref) {};
-    
+
        % Controller
        \path(ref)+(0.75*\nodesep,-0.25*\blockheight) node (err_quat) [text_block] {Error quaternion};
        \path(err_quat)+(1.5*\nodesep,0) node (select_axis) [text_block] {Extract component};
@@ -259,7 +259,7 @@
        \path(mult)+(0.65*\nodesep, 0) node (p_gain) [gain] {\scriptsize $2 P$};
        \path(p_gain)+(0.75*\nodesep, 0) node (sat_ctrl) [sat_block] {};
        \path(sat_ctrl)+(0.75*\nodesep, 0) node (output) [] {};
-    
+
        %===============================================================================
        \path[draw,->] (ref.east) -- node[text centered, anchor=south, pos=0.1] {$\bm{q}_\text{sp}$} ([yshift=0.25*\blockheight]err_quat.west);
        \path[draw,->] ([yshift=-0.25*\blockheight]err_quat.west -| ref.east) -- node[text centered, anchor=north, pos=0.1] {$\bm{q}$} ([yshift=-0.25*\blockheight]err_quat.west);
@@ -272,23 +272,23 @@
        \path[draw,->] (p_gain.east) -- (sat_ctrl.west);
        \path[draw,->] (sat_ctrl.east) -- node[text centered, anchor=south] {$\Omega_\text{sp}$} (output.west);
      \end{tikzpicture}
-    
+
    \end{figure}
-    
+
    \clearpage

    %===================================================================================
    % TIKZ VELOCITY CONTROL
    %===================================================================================
-    
+
    \begin{figure}[ht]
      \centering
-    
+
      % Define distances
      \def\blockheight{2.2em}
      \def\blockwidth{2.2em}
      \def\nodesep{1.5*\blockwidth}
-    
+
      \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
        simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
        frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -301,7 +301,7 @@
            node at (sum.east) [port, left=1pt] {$#4$}
          }
        },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
          {
          % Get the width and height of the path picture node
          \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -312,11 +312,11 @@
          \tikzset{x=\x*.4, y=\y*.4}
          %
          % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
          \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
          }
        },
-        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block_int/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
          {
          % Get the width and height of the path picture node
          \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -333,7 +333,7 @@
      ]
        %===================================================================================
        \node[text centered] (ref) {};
-    
+
        % Controller
        \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
        \path(ref_sum)+(2*\nodesep,0) node (ctrl_i) [simple_block] {$\int$};
@@ -345,12 +345,12 @@
        \path(ctrl_i_gain)+(\nodesep,0) node (ctrl_sum) [sum={+}{+}{-}{}] {};
        \path(ctrl_sum)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
        \path(sat_ctrl.east)+(0.675*\nodesep,0) node (ctrl) [] {};
-    
+
        \path(ref_sum.south |- ctrl_d_filt.west)+(-\nodesep,0) node(output) [] {};
-    
+
        %===================================================================================
        \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$V_\text{sp}$} (ref_sum.west);
-    
+
        \path[draw,->] (ref_sum.east) -- (ctrl_i.west);
        \path[draw,->] (output.east) |- node[anchor=south, pos=0] {$V$} (ctrl_d_filt.west);
        \path[draw,->] (output.east -| ref_sum.south) -- (ref_sum.south);
@@ -363,25 +363,25 @@
        \path[draw,->] (ctrl_p_gain.east) -| (ctrl_sum.north);
        \path[draw,->] (ctrl_sum.east) -- (sat_ctrl.west);
        \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$A_\text{sp}$} (ctrl.west);
-      
+
      \end{tikzpicture}
-    
+
    \end{figure}
-    
+
    \clearpage

    %===================================================================================
    % TIKZ POSITION CONTROL
    %===================================================================================
-    
+
    \begin{figure}[h]
      \centering
-    
+
      % Define distances
      \def\blockheight{2.2em}
      \def\blockwidth{2.2em}
      \def\nodesep{2*\blockwidth}
-    
+
      \begin{tikzpicture}[>={Stealth[inset=0pt,length=3pt,angle'=60,round]},
        simple_block/.style = {draw, fill=light_blue, text centered, inner sep=0pt, minimum width=\blockwidth, minimum height=\blockheight},
        frame_block/.style = {draw, text centered, inner ysep=1.25em, inner xsep=1.25em, dashed},
@@ -394,7 +394,7 @@
            node at (sum.east) [port, left=1pt] {$#4$}
          }
        },
-        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture = 
+        sat_block/.style = {draw, minimum width=\blockwidth, minimum height=\blockheight, path picture =
          {
          % Get the width and height of the path picture node
          \pgfpointdiff{\pgfpointanchor{path picture bounding box}{north east}}%
@@ -405,32 +405,32 @@
          \tikzset{x=\x*.4, y=\y*.4}
          %
          % Draw annotation
-          \draw (-1,0) -- (1,0) (0,-1) -- (0,1); 
+          \draw (-1,0) -- (1,0) (0,-1) -- (0,1);
          \draw (-1,-.6) -- (-.6,-.6) -- (.6,.6) -- (1,.6);
          }
        }
      ]
        %===============================================================================
        \node[text centered] (ref) {};
-    
+
        % Controller
        \path(ref)+(\nodesep,0) node (ref_sum) [sum={}{+}{-}{}] {};
        \path(ref_sum)+(\nodesep,0) node (ctrl_p_gain) [simple_block] {$P$};
        \path(ctrl_p_gain)+(\nodesep,0) node (sat_ctrl) [sat_block] {};
        \path(sat_ctrl.east)+(\nodesep,0) node (ctrl) [] {};
-    
+
        \path(ref_sum.south)+(-\nodesep,-1.5*\blockheight) node(output) [] {};
-    
+
        %===============================================================================
        \path[draw,->] (ref.east) -- node[anchor=south, pos=0] {$X_\text{sp}$} (ref_sum.west);
-    
+
        \path[draw,->] (output.east) -- node[anchor=south, pos=0] {$X$} (output.east -| ref_sum.south) -- (ref_sum.south);
        \path[draw,->] (ref_sum.east) -- (ctrl_p_gain.west);
        \path[draw,->] (ctrl_p_gain.east) -- (sat_ctrl.west);
        \path[draw,->] (sat_ctrl.east) -- node[anchor=south] {$V_\text{sp}$} (ctrl.west);
-      
+
      \end{tikzpicture}
-    
+
    \end{figure}

-\end{document}
+\end{document}