Skip to content

Commit

Permalink
AP_AHRS: go through the formatter
Browse files Browse the repository at this point in the history
  • Loading branch information
@muramura
muramura committed Apr 6, 2024
1 parent 7773a0c commit 44cb932
Showing 1 changed file with 30 additions and 29 deletions.
59 changes: 30 additions & 29 deletions libraries/AP_AHRS/AP_AHRS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -188,11 +188,11 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {

// @Param: OPTIONS
// @DisplayName: Optional AHRS behaviour
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating.
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating.
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL
// @User: Advanced
AP_GROUPINFO("OPTIONS", 18, AP_AHRS, _options, 0),

AP_GROUPEND
};

Expand Down Expand Up @@ -316,7 +316,7 @@ void AP_AHRS::reset_gyro_drift(void)
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);

// update DCM
#if AP_AHRS_DCM_ENABLED
dcm.reset_gyro_drift();
Expand Down Expand Up @@ -403,7 +403,7 @@ void AP_AHRS::update(bool skip_ins_update)
#if AP_AHRS_EXTERNAL_ENABLED
update_external();
#endif

if (_ekf_type == 2) {
// if EK2 is primary then run EKF2 first to give it CPU
// priority
Expand Down Expand Up @@ -527,7 +527,7 @@ void AP_AHRS::update_DCM()
// really shouldn't be doing this.

// if (active_EKF_type() == EKFType::DCM) {
copy_estimates_from_backend_estimates(dcm_estimates);
copy_estimates_from_backend_estimates(dcm_estimates);
// }
}
#endif
Expand Down Expand Up @@ -1670,17 +1670,17 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
Vector2f posNE;
float posD;
if (EKF3.getPosNE(posNE) && EKF3.getPosD(posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return true;
}
return false;
Vector2f posNE;
float posD;
if (EKF3.getPosNE(posNE) && EKF3.getPosD(posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return true;
}
return false;
}
#endif

#if AP_AHRS_SIM_ENABLED
Expand Down Expand Up @@ -1881,7 +1881,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
#elif AP_AHRS_DCM_ENABLED
return EKFType::DCM;
#else
#error "no default backend available"
#error "no default backend available"
#endif
}

Expand Down Expand Up @@ -1992,12 +1992,12 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
}

const bool disable_dcm_fallback = fly_forward?
option_set(Options::DISABLE_DCM_FALLBACK_FW) : option_set(Options::DISABLE_DCM_FALLBACK_VTOL);
option_set(Options::DISABLE_DCM_FALLBACK_FW) : option_set(Options::DISABLE_DCM_FALLBACK_VTOL);
if (disable_dcm_fallback) {
// don't fallback
return ret;
}

// Handle loss of global position when we still have a GPS fix
if (hal.util->get_soft_armed() &&
(_gps_use != GPSUse::Disable) &&
Expand Down Expand Up @@ -2155,8 +2155,8 @@ bool AP_AHRS::healthy(void) const
return false;
}
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::TWO) {
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::TWO) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;
Expand All @@ -2172,8 +2172,8 @@ bool AP_AHRS::healthy(void) const
return false;
}
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::THREE) {
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::THREE) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;
Expand Down Expand Up @@ -2765,7 +2765,7 @@ bool AP_AHRS::resetHeightDatum(void)
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);

switch (ekf_type()) {

#if AP_AHRS_DCM_ENABLED
Expand Down Expand Up @@ -3168,7 +3168,7 @@ uint8_t AP_AHRS::get_active_airspeed_index() const
return 0;
}

// we only have affinity for EKF3 as of now
// we only have affinity for EKF3 as of now
#if HAL_NAVEKF3_AVAILABLE
if (active_EKF_type() == EKFType::THREE) {
uint8_t ret = EKF3.getActiveAirspeed();
Expand Down Expand Up @@ -3288,7 +3288,7 @@ void AP_AHRS::check_lane_switch(void)
case EKFType::EXTERNAL:
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
EKF2.checkLaneSwitch();
Expand Down Expand Up @@ -3320,7 +3320,7 @@ void AP_AHRS::request_yaw_reset(void)
case EKFType::EXTERNAL:
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
EKF2.requestYawReset();
Expand Down Expand Up @@ -3350,7 +3350,7 @@ uint8_t AP_AHRS::get_posvelyaw_source_set() const
return EKF3.get_active_source_set();
#else
return 0;
#endif
#endif
}

void AP_AHRS::Log_Write()
Expand Down Expand Up @@ -3391,7 +3391,7 @@ bool AP_AHRS::using_noncompass_for_yaw(void) const
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
return false;
}
// since there is no default case above, this is unreachable
return false;
Expand Down Expand Up @@ -3564,7 +3564,8 @@ bool AP_AHRS::get_location_from_home_offset(Location &loc, const Vector3p &offse
// singleton instance
AP_AHRS *AP_AHRS::_singleton;

namespace AP {
namespace AP
{

AP_AHRS &ahrs()
{
Expand Down

0 comments on commit 44cb932

Please sign in to comment.