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clang-format reformatting
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@bsutherland333
bsutherland333 committed Nov 15, 2023
1 parent 9b7effd commit fdd8e5c
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Showing 6 changed files with 79 additions and 65 deletions.
10 changes: 5 additions & 5 deletions include/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,17 +93,17 @@ class Board
// Sonar
virtual bool sonar_present() = 0;
virtual uint8_t sonar_has_new_data() = 0;
virtual bool sonar_read(float *range) =0;
virtual bool sonar_read(float *range) = 0;

// GPS
virtual bool gnss_present() = 0;
virtual uint8_t gnss_has_new_data() = 0;
virtual bool gnss_read( GNSSData *gnss, GNSSFull *gnss_full) = 0;
virtual bool gnss_read(GNSSData *gnss, GNSSFull *gnss_full) = 0;

// Battery
virtual bool battery_present() = 0;
virtual uint8_t battery_has_new_data() = 0;
virtual bool battery_read(float *voltage, float* current) = 0;
virtual bool battery_present() = 0;
virtual uint8_t battery_has_new_data() = 0;
virtual bool battery_read(float *voltage, float *current) = 0;
virtual void battery_voltage_set_multiplier(double multiplier) = 0;
virtual void battery_current_set_multiplier(double multiplier) = 0;

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2 changes: 1 addition & 1 deletion include/sensors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@ class Sensors : public ParamListenerInterface
GNSSFull gnss_full;
float gps_CNO = 0; // What is this?
bool gnss_present = false;

turbomath::Vector mag = {0, 0, 0};

bool baro_present = false;
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75 changes: 45 additions & 30 deletions src/comm_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,40 +522,57 @@ void CommManager::stream(got_flags got)

// Send out data

if(got.imu) // Nominally 400Hz
if (got.imu) // Nominally 400Hz
{
send_imu();
send_attitude();
static uint64_t ro_count=0;
if(!((ro_count++)%8)) send_output_raw(); // Raw output at 400Hz/8 = 50Hz
}

if(got.diff_pressure) send_diff_pressure(); // Pitot sensor
if(got.baro) send_baro(); // Baro altimeter
if(got.mag) send_mag(); // Manetometer
if(got.sonar) send_sonar(); // Height above ground sensor (not enabled)
if(got.battery) send_battery_status(); // Battery V & I
if(got.gnss) send_gnss(); // GPS data (GNSS Packed)
if(got.gnss_full) send_gnss_full(); // GPS full data (not needed)
if(got.rc) // report at half the S.Bus rate.
static uint64_t ro_count = 0;
if (!((ro_count++) % 8))
send_output_raw(); // Raw output at 400Hz/8 = 50Hz
}

// Pitot sensor
if (got.diff_pressure)
send_diff_pressure();
// Baro altitude
if (got.baro)
send_baro();
// Magnetometer
if (got.mag)
send_mag();
// Height above ground sensor (not enabled)
if (got.sonar)
send_sonar();
// Battery V & I
if (got.battery)
send_battery_status();
// GPS data (GNSS Packed)
if (got.gnss)
send_gnss();
// GPS full data (not needed)
if (got.gnss_full)
send_gnss_full();
if (got.rc) // report at half the S.Bus rate.
{
static uint64_t rc_count=0;
if(!((rc_count++)%2)) send_rc_raw(); // RC (S.Bus) inputs, scaled 1000-2000
static uint64_t rc_count = 0;
// RC (S.Bus) inputs, scaled 1000-2000
if (!((rc_count++) % 2))
send_rc_raw();
}

{
static uint64_t next_heartbeat = 0, next_status =0;

if((time_us)/1000000 >= next_heartbeat ) // 1 Hz
{
send_heartbeat();
next_heartbeat = time_us/1000000+1;
}
if((time_us)/100000 >= next_status ) // 10 Hz
{
send_status();
next_status = time_us/100000+1;
}
static uint64_t next_heartbeat = 0, next_status = 0;

if ((time_us) / 1000000 >= next_heartbeat) // 1 Hz
{
send_heartbeat();
next_heartbeat = time_us / 1000000 + 1;
}
if ((time_us) / 100000 >= next_status) // 10 Hz
{
send_status();
next_status = time_us / 100000 + 1;
}
}

send_low_priority(); // parameter values and logging messages
Expand All @@ -581,9 +598,7 @@ void CommManager::send_next_param(void)
}

CommManager::Stream::Stream(uint32_t period_us, std::function<void(void)> send_function) :
period_us_(period_us),
next_time_us_(0),
send_function_(send_function)
period_us_(period_us), next_time_us_(0), send_function_(send_function)
{
}

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8 changes: 4 additions & 4 deletions src/param.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,10 +49,10 @@
#endif

// Uncomment to view contents of GIT_VERSION_HASH and GIT_VERSION STRING
//#define STRINGIFY(s) XSTRINGIFY(s)
//#define XSTRINGIFY(s) #s
//#pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
//#pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)
// #define STRINGIFY(s) XSTRINGIFY(s)
// #define XSTRINGIFY(s) #s
// #pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
// #pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)

namespace rosflight_firmware
{
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7 changes: 4 additions & 3 deletions src/rosflight.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,9 @@ void ROSflight::run()
/*********************/
uint64_t start = board_.clock_micros();

got_flags got = sensors_.run(); // IMU, GNSS, Baro, Mag, Pitot, SONAR, Battery
got_flags got = sensors_.run(); // IMU, GNSS, Baro, Mag, Pitot, SONAR, Battery

if(got.imu)
if (got.imu)
{
estimator_.run();
controller_.run();
Expand All @@ -131,7 +131,8 @@ void ROSflight::run()
state_manager_.run();

// get RC, synchronous with rc data acquisition
if(got.rc) rc_.run();
if (got.rc)
rc_.run();

// update commands (internal logic tells whether or not we should do anything or not)
command_manager_.run();
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42 changes: 20 additions & 22 deletions src/sensors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,10 +128,10 @@ void Sensors::param_change_callback(uint16_t param_id)

got_flags Sensors::run()
{
memset(&got,0,sizeof(got));
memset(&got, 0, sizeof(got));

// IMU:
if ((got.imu = rf_.board_.imu_has_new_data())>0)
if ((got.imu = rf_.board_.imu_has_new_data()) > 0)
{
rf_.state_manager_.clear_error(StateManager::ERROR_IMU_NOT_RESPONDING);
last_imu_update_ms_ = rf_.board_.clock_millis();
Expand Down Expand Up @@ -165,16 +165,15 @@ got_flags Sensors::run()
accel_int_ += dt * data_.accel;
gyro_int_ += dt * data_.gyro;
prev_imu_read_time_us_ = data_.imu_time;

}

// GNSS:
if (rf_.board_.gnss_present())
{
data_.gnss_present = true;
if((got.gnss = rf_.board_.gnss_has_new_data())>0)
if ((got.gnss = rf_.board_.gnss_has_new_data()) > 0)
{
rf_.board_.gnss_read(&this->data_.gnss_data, &this->data_.gnss_full);
rf_.board_.gnss_read(&this->data_.gnss_data, &this->data_.gnss_full);
}
got.gnss_full = got.gnss; // bot come with the pvt GPS data
}
Expand All @@ -183,8 +182,8 @@ got_flags Sensors::run()
if (rf_.board_.baro_present())
{
data_.baro_present = true;
if((got.baro = rf_.board_.baro_has_new_data())>0)
{
if ((got.baro = rf_.board_.baro_has_new_data()) > 0)
{
float raw_pressure;
float raw_temp;
rf_.board_.baro_read(&raw_pressure, &raw_temp);
Expand All @@ -202,7 +201,7 @@ got_flags Sensors::run()
{
data_.mag_present = true;
float mag[3];
if((got.mag=rf_.board_.mag_has_new_data())>0)
if ((got.mag = rf_.board_.mag_has_new_data()) > 0)
{
rf_.board_.mag_read(mag);
data_.mag.x = mag[0];
Expand All @@ -216,7 +215,7 @@ got_flags Sensors::run()
if (rf_.board_.diff_pressure_present())
{
data_.diff_pressure_present = true;
if((got.diff_pressure = rf_.board_.diff_pressure_has_new_data())>0)
if ((got.diff_pressure = rf_.board_.diff_pressure_has_new_data()) > 0)
{
float raw_pressure;
float raw_temp;
Expand All @@ -234,33 +233,33 @@ got_flags Sensors::run()
if (rf_.board_.sonar_present())
{
data_.sonar_present = true;
if((got.sonar = rf_.board_.sonar_has_new_data())>0)
if ((got.sonar = rf_.board_.sonar_has_new_data()) > 0)
{
float raw_distance;
rf_.board_.sonar_read( &raw_distance);
rf_.board_.sonar_read(&raw_distance);
data_.sonar_range_valid = sonar_outlier_filt_.update(raw_distance, &data_.sonar_range);
}
}

// BATTERY_MONITOR:
if((got.battery = rf_.board_.battery_has_new_data())>0)
if ((got.battery = rf_.board_.battery_has_new_data()) > 0)
{
last_battery_monitor_update_ms_ = rf_.board_.clock_millis();
update_battery_monitor();
}

// RC
if((got.rc = rf_.board_.rc_has_new_data())>0)
if ((got.rc = rf_.board_.rc_has_new_data()) > 0)
{
rf_.board_.rc_read(0);
}

return got;
return got;
}

void Sensors::update_other_sensors(){}
void Sensors::update_other_sensors() {}

void Sensors::look_for_disabled_sensors(){}
void Sensors::look_for_disabled_sensors() {}

bool Sensors::start_imu_calibration(void)
{
Expand Down Expand Up @@ -312,7 +311,7 @@ bool Sensors::gyro_calibration_complete(void)
bool Sensors::update_imu(void)
{
bool new_data;
if ((new_data = rf_.board_.imu_has_new_data())>0)
if ((new_data = rf_.board_.imu_has_new_data()) > 0)
{
rf_.state_manager_.clear_error(StateManager::ERROR_IMU_NOT_RESPONDING);
last_imu_update_ms_ = rf_.board_.clock_millis();
Expand Down Expand Up @@ -345,9 +344,8 @@ bool Sensors::update_imu(void)
accel_int_ += dt * data_.accel;
gyro_int_ += dt * data_.gyro;
prev_imu_read_time_us_ = data_.imu_time;

}
return new_data;
}
return new_data;
}

void Sensors::get_filtered_IMU(turbomath::Vector &accel, turbomath::Vector &gyro, uint64_t &stamp_us)
Expand All @@ -365,8 +363,8 @@ void Sensors::update_battery_monitor()
{
if (rf_.board_.battery_present())
{
float battery_voltage,battery_current;
rf_.board_.battery_read(&battery_voltage,&battery_current);
float battery_voltage, battery_current;
rf_.board_.battery_read(&battery_voltage, &battery_current);
data_.battery_monitor_present = true;
data_.battery_voltage = battery_voltage;
data_.battery_current = battery_current;
Expand Down

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