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cleanup trailing whitespaces

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This commit is contained in:
Felix Ruess
2011-08-18 09:47:40 +02:00
parent 3e449008ab
commit f77fae3361
360 changed files with 2281 additions and 2281 deletions
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conf/airframes/TU_Delft/Trip50A.xml
+16 -16
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
@@ -60,9 +60,9 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_4"/>
<define name="GYRO_PITCH" value="ADC_5"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="AIRSPEED" value="ADC_3"/>
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
</section>
<section name="INFRARED" prefix="IR_">
@@ -97,7 +97,7 @@
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
</section>
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="382"/>
@@ -107,7 +107,7 @@
<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
<define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
<define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="PITCH_DIRECTION" value="1."/>
</section>
@@ -140,15 +140,15 @@
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
/* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
* v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
@@ -187,8 +187,8 @@
<define name="PITCH_DGAIN" value="2."/>
<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
@@ -201,7 +201,7 @@ inline static void h_ctl_roll_loop( void ) {
- h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
-->
@@ -231,7 +231,7 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
@@ -258,7 +258,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
@@ -272,7 +272,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLIN
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/TU_Delft/Trip50B.xml
+16 -16
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
@@ -65,9 +65,9 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_4"/>
<define name="GYRO_PITCH" value="ADC_5"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="AIRSPEED" value="ADC_3"/>
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
</section>
<section name="INFRARED" prefix="IR_">
@@ -102,7 +102,7 @@
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
</section>
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="382"/>
@@ -112,7 +112,7 @@
<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
<define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
<define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="PITCH_DIRECTION" value="1."/>
</section>
@@ -145,15 +145,15 @@
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
/* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
* v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
@@ -192,8 +192,8 @@
<define name="PITCH_DGAIN" value="2."/>
<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
@@ -206,7 +206,7 @@ inline static void h_ctl_roll_loop( void ) {
- h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
-->
@@ -236,7 +236,7 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
@@ -263,7 +263,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
@@ -277,7 +277,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLIN
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300
ap.srcs += $(SRC_ARCH)/adc_hw.c
conf/airframes/TU_Delft/holiday50.xml
+18 -18
View File
@@ -58,9 +58,9 @@
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_TEMP" value="ADC_4"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
<define name="OPTICFLOW" value="ADC_5"/>
<define name="CURRENT" value="ADC_6"/> <!-- Current Measurement -->
</section>
@@ -98,12 +98,12 @@
<section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="325"/>
<define name="ADC_TEMP_NEUTRAL" value="450"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="2.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/>
<define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -112,7 +112,7 @@
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -142,15 +142,15 @@
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
/* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
* v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.319999992847"/>
@@ -187,8 +187,8 @@
<define name="PITCH_DGAIN" value="2.0"/>
<define name="ELEVATOR_OF_ROLL" value="2050"/> <!-- Feed forward ABS(roll) to elevator -->
<define name="ROLL_SLEW" value="0.10"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_SLEW" value="0.10"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="-6000"/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-550"/>
@@ -201,7 +201,7 @@ inline static void h_ctl_roll_loop( void ) {
- h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
-->
@@ -231,7 +231,7 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
@@ -260,7 +260,7 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
# 35MHz Radio
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# Paparazzi protocol on UART0 at 57600
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -268,7 +268,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transpo
# communication from FBW and AP
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
@@ -306,10 +306,10 @@ ap.srcs += subsystems/navigation/bomb.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
# subsystems/navigation/traffic_info.c
sim.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
# -DTEST_CAM