Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

fix more trailing whitespaces

Browse Source
This commit is contained in:
Felix Ruess
2010-11-07 04:30:44 +00:00
parent 237a896896
commit e6e5d0bd98
6 changed files with 86 additions and 89 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/estimator.c
+5 -6
View File
@@ -1,10 +1,10 @@
/*
* Paparazzi autopilot $Id$
*
*
* Copyright (C) 2004-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
@@ -229,8 +229,7 @@ void estimator_update_state_gps( void ) {
estimator_psi = atan2f(w_ve, w_vn);
if (estimator_psi < 0.)
estimator_psi += 2 * M_PI;
#ifdef EXTRA_DOWNLINK_DEVICE
#ifdef EXTRA_DOWNLINK_DEVICE
DOWNLINK_SEND_ATTITUDE(ExtraPprzTransport,&estimator_phi,&estimator_psi,&estimator_theta);
#endif
#endif
}
sw/airborne/gps_nmea.c
+52 -52
View File
@@ -1,5 +1,5 @@
/*
*
*
* Copyright (C) 2008 Marcus Wolschon
*
* This file is part of paparazzi.
@@ -17,11 +17,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
* file gps_nmea.c
* brief Parser for the NMEA protocol
*
@@ -34,7 +34,7 @@
*/
#include <inttypes.h>
#include <string.h>
#include <string.h>
#include <math.h>
#ifdef LINUX
// do debug-output if run on the linux-target
@@ -101,7 +101,7 @@ void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
#include "uart.h"
void gps_configure_uart ( void ) {
//UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
//UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
//while (GpsUartRunning) ; /* FIXME */
GpsUartInitParam( UART_BAUD(GPS_BAUD), UART_8N1, UART_FIFO_8);
}
@@ -124,7 +124,7 @@ int nmea_msg_len = 0;
int GpsFixValid() {
return gps_pos_available;
}
}
/**
* parse GPGSA-nmea-messages stored in
@@ -199,7 +199,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get warning
@@ -210,7 +210,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get lat
// ignored
@@ -220,7 +220,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get North/South
// ignored
@@ -230,7 +230,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get lon
// ignored
@@ -240,7 +240,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get eath/west
// ignored
@@ -250,7 +250,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
// get speed
double speed = strtod(&nmea_msg_buf[i], &endptr);
@@ -264,7 +264,7 @@ void parse_nmea_GPRMC() {
printf("parse_nmea_GPRMC() - skipping incomplete message\n");
#endif
return;
}
}
}
@@ -284,7 +284,7 @@ void parse_nmea_GPGGA() {
if(nmea_msg_buf[i]==',' && nmea_msg_buf[i+1]==',') {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping empty message\n");
#endif
#endif
return;
}
@@ -294,8 +294,8 @@ void parse_nmea_GPGGA() {
if (i >= nmea_msg_len) {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping incomplete message\n");
#endif
return;
#endif
return;
}
}
@@ -310,24 +310,24 @@ void parse_nmea_GPGGA() {
if (i >= nmea_msg_len) {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping incomplete message\n");
#endif
return;
}
#endif
return;
}
}
// correct latitute for N/S
if(nmea_msg_buf[i] == 'S')
lat = -lat;
while(nmea_msg_buf[i++] != ',') { // next field: longitude
if (i >= nmea_msg_len)
return;
return;
}
gps_lat = lat * 1e7; // convert to fixed-point
#ifdef LINUX
printf("parse_nmea_GPGGA() - lat=%f gps_lat=%i\n", lat, gps_lat);
#endif
#endif
// get longitude [ddmm.mmmmm]
double lon = strtod(&nmea_msg_buf[i], &endptr);
// convert to pure degrees [dd.dddd] format
@@ -337,21 +337,21 @@ void parse_nmea_GPGGA() {
//GpsInfo.PosLLA.lon.f *= (M_PI/180);
while(nmea_msg_buf[i++] != ',') { // next field: E/W indicator
if (i >= nmea_msg_len)
return;
return;
}
// correct latitute for E/W
if(nmea_msg_buf[i] == 'W')
lon = -lon;
while(nmea_msg_buf[i++] != ',') { // next field: position fix status
if (i >= nmea_msg_len)
return;
return;
}
gps_lon = lon * 1e7; // convert to fixed-point
#ifdef LINUX
printf("parse_nmea_GPGGA() - lon=%f gps_lon=%i\n", lon, gps_lon);
#endif
#endif
latlong_utm_of(RadOfDeg(lat), RadOfDeg(lon), nav_utm_zone0);
@@ -367,69 +367,69 @@ void parse_nmea_GPGGA() {
gps_pos_available = TRUE;
#ifdef LINUX
printf("parse_nmea_GPGGA() - gps_pos_available == true\n");
#endif
#endif
} else {
gps_pos_available = FALSE;
#ifdef LINUX
printf("parse_nmea_GPGGA() - gps_pos_available == false\n");
#endif
#endif
}
while(nmea_msg_buf[i++] != ',') { // next field: satellites used
if (i >= nmea_msg_len) {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping incomplete message\n");
#endif
return;
}
#endif
return;
}
}
// get number of satellites used in GPS solution
gps_numSV = atoi(&nmea_msg_buf[i]);
#ifdef LINUX
printf("parse_nmea_GPGGA() - gps_numSatlitesUsed=%i\n", gps_numSV);
#endif
#endif
while(nmea_msg_buf[i++] != ',') { // next field: HDOP (horizontal dilution of precision)
if (i >= nmea_msg_len) {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping incomplete message\n");
#endif
return;
}
#endif
return;
}
}
while(nmea_msg_buf[i++] != ',') { // next field: altitude
if (i >= nmea_msg_len) {
#ifdef LINUX
printf("parse_nmea_GPGGA() - skipping incomplete message\n");
#endif
return;
}
#endif
return;
}
}
// get altitude (in meters)
double alt = strtod(&nmea_msg_buf[i], &endptr);
gps_alt = alt * 10;
#ifdef LINUX
printf("parse_nmea_GPGGA() - gps_alt=%i\n", gps_alt);
#endif
#endif
while(nmea_msg_buf[i++] != ',') { // next field: altitude units, always 'M'
if (i >= nmea_msg_len)
return;
return;
}
while(nmea_msg_buf[i++] != ',') { // next field: geoid seperation
if (i >= nmea_msg_len)
return;
return;
}
while(nmea_msg_buf[i++] != ',') { // next field: seperation units
if (i >= nmea_msg_len)
return;
return;
}
while(nmea_msg_buf[i++] != ',') { // next field: DGPS age
if (i >= nmea_msg_len)
return;
return;
}
while(nmea_msg_buf[i++] != ',') { // next field: DGPS station ID
if (i >= nmea_msg_len)
return;
return;
}
//while(nmea_msg_buf[i++] != '*'); // next field: checksum
}
@@ -445,27 +445,27 @@ void parse_gps_msg( void ) {
nmea_msg_buf[nmea_msg_len] = 0;
#ifdef LINUX
printf("parse_gps_msg() - parsing RMC gps-message \"%s\"\n",nmea_msg_buf);
#endif
#endif
parse_nmea_GPRMC();
} else
if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGGA", 6)) {
nmea_msg_buf[nmea_msg_len] = 0;
#ifdef LINUX
printf("parse_gps_msg() - parsing GGA gps-message \"%s\"\n",nmea_msg_buf);
#endif
#endif
parse_nmea_GPGGA();
} else
if(nmea_msg_len > 7 && !strncmp(nmea_msg_buf + 1 , "$GPGSA", 6)) {
nmea_msg_buf[nmea_msg_len] = 0;
#ifdef LINUX
printf("parse_gps_msg() - parsing GSA gps-message \"%s\"\n",nmea_msg_buf);
#endif
#endif
parse_nmea_GPGSA();
} else {
nmea_msg_buf[nmea_msg_len] = 0;
#ifdef LINUX
printf("parse_gps_msg() - ignoring unknown gps-message \"%s\" len=%i\n",nmea_msg_buf, nmea_msg_len);
#endif
#endif
}
// reset message-buffer
sw/airborne/gps_ubx.c
+22 -23
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi mcu0 $Id$
*
*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
@@ -27,7 +27,7 @@
*/
#include <inttypes.h>
#include <string.h>
#include <string.h>
#include <math.h>
#ifdef FMS_PERIODIC_FREQ
@@ -35,7 +35,7 @@
#include <stdio.h>
//for baudrate
#include "fms_serial_port.h"
#endif
#endif
#include "flight_plan.h"
#include "uart.h"
@@ -47,7 +47,7 @@
#ifdef GPS_TIMESTAMP
#include "sys_time.h"
#define MSEC_PER_WEEK (1000*60*60*24*7)
#endif
#endif
#define UbxInitCheksum() { send_ck_a = send_ck_b = 0; }
#define UpdateChecksum(c) { send_ck_a += c; send_ck_b += send_ck_a; }
@@ -69,7 +69,7 @@
}
/** Includes macros generated from ubx.xml */
/** Includes macros generated from ubx.xml */
#include "ubx_protocol.h"
@@ -169,8 +169,8 @@ void gps_configure_uart ( void ) {
uint8_t loop=0;
while (GpsUartRunning) {
//doesn't work unless some printfs are used, so :
if (loop<9) {
printf("."); loop++;
if (loop<9) {
printf("."); loop++;
} else {
printf("\b"); loop--;
}
@@ -195,7 +195,7 @@ void gps_configure_uart ( void ) {
#ifdef USER_GPS_CONFIGURE
#include USER_GPS_CONFIGURE
#else
#else
static bool_t user_gps_configure(bool_t cpt) {
switch (cpt) {
case 0:
@@ -222,14 +222,14 @@ static bool_t user_gps_configure(bool_t cpt) {
UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
break;
case 7:
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
return FALSE;
}
return TRUE; /* Continue, except for the last case */
}
#endif // ! USER_GPS_CONFIGURE
/* GPS configuration. Must be called on ack message reception while
/* GPS configuration. Must be called on ack message reception while
gps_status_config < GPS_CONFIG_DONE */
void gps_configure ( void ) {
if (ubx_class == UBX_ACK_ID) {
@@ -265,7 +265,7 @@ void parse_gps_msg( void ) {
gps_hmsl = UBX_NAV_POSLLH_HMSL(ubx_msg_buf);
latlong_utm_of(RadOfDeg(gps_lat/1e7), RadOfDeg(gps_lon/1e7), nav_utm_zone0);
gps_utm_east = latlong_utm_x * 100;
gps_utm_north = latlong_utm_y * 100;
gps_alt = UBX_NAV_POSLLH_HMSL(ubx_msg_buf) / 10;
@@ -276,7 +276,7 @@ void parse_gps_msg( void ) {
gps_utm_north = UBX_NAV_POSUTM_NORTH(ubx_msg_buf);
uint8_t hem = UBX_NAV_POSUTM_HEM(ubx_msg_buf);
if (hem == UTM_HEM_SOUTH)
gps_utm_north -= 1000000000; /* Subtract false northing: -10000km */
gps_utm_north -= 1000000000; /* Subtract false northing: -10000km */
gps_alt = UBX_NAV_POSUTM_ALT(ubx_msg_buf);
gps_utm_zone = UBX_NAV_POSUTM_ZONE(ubx_msg_buf);
#endif
@@ -286,7 +286,7 @@ void parse_gps_msg( void ) {
gps_climb = - UBX_NAV_VELNED_VEL_D(ubx_msg_buf);
gps_course = UBX_NAV_VELNED_Heading(ubx_msg_buf) / 10000;
gps_itow = UBX_NAV_VELNED_ITOW(ubx_msg_buf);
gps_pos_available = TRUE; /* The 3 UBX messages are sent in one rafale */
} else if (ubx_id == UBX_NAV_SOL_ID) {
#ifdef GPS_TIMESTAMP
@@ -307,12 +307,12 @@ void parse_gps_msg( void ) {
gps_nb_channels = Min(UBX_NAV_SVINFO_NCH(ubx_msg_buf), GPS_NB_CHANNELS);
uint8_t i;
for(i = 0; i < gps_nb_channels; i++) {
gps_svinfos[i].svid = UBX_NAV_SVINFO_SVID(ubx_msg_buf, i);
gps_svinfos[i].flags = UBX_NAV_SVINFO_Flags(ubx_msg_buf, i);
gps_svinfos[i].qi = UBX_NAV_SVINFO_QI(ubx_msg_buf, i);
gps_svinfos[i].cno = UBX_NAV_SVINFO_CNO(ubx_msg_buf, i);
gps_svinfos[i].elev = UBX_NAV_SVINFO_Elev(ubx_msg_buf, i);
gps_svinfos[i].azim = UBX_NAV_SVINFO_Azim(ubx_msg_buf, i);
gps_svinfos[i].svid = UBX_NAV_SVINFO_SVID(ubx_msg_buf, i);
gps_svinfos[i].flags = UBX_NAV_SVINFO_Flags(ubx_msg_buf, i);
gps_svinfos[i].qi = UBX_NAV_SVINFO_QI(ubx_msg_buf, i);
gps_svinfos[i].cno = UBX_NAV_SVINFO_CNO(ubx_msg_buf, i);
gps_svinfos[i].elev = UBX_NAV_SVINFO_Elev(ubx_msg_buf, i);
gps_svinfos[i].azim = UBX_NAV_SVINFO_Azim(ubx_msg_buf, i);
}
}
}
@@ -351,7 +351,7 @@ void parse_ubx( uint8_t c ) {
case GOT_CLASS:
ubx_id = c;
ubx_status++;
break;
break;
case GOT_ID:
ubx_len = c;
ubx_status++;
@@ -385,7 +385,7 @@ void parse_ubx( uint8_t c ) {
goto error;
}
return;
error:
error:
restart:
ubx_status = UNINIT;
return;
@@ -417,4 +417,3 @@ uint32_t itow_from_ticks(uint32_t clock_ticks)
return itow_now;
}
#endif
sw/airborne/gps_ubx.h
+2 -2
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi autopilot $Id$
*
*
* Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
sw/airborne/gps_xsens.c
+3 -4
View File
@@ -1,10 +1,10 @@
/*
* $Id$
*
*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
@@ -72,4 +72,3 @@ void gps_init( void ) {}
void gps_configure( void ) {}
void parse_gps_msg( void ) {}
void gps_configure_uart( void ) {}
sw/airborne/gps_xsens.h
+2 -2
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi autopilot $Id: gps_ubx.h 4659 2010-03-10 16:55:04Z mmm $
*
*
* Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/