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Minor airframe spacing and float literal, cast cleanup #24094

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merged 3 commits into from
Dec 12, 2024
Merged

Minor airframe spacing and float literal, cast cleanup #24094

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155c74a
Airframes: remove unnecessary double newlines
MaEtUgR Dec 11, 2024
6aefad5
PCF8583: refactor 1e6f for 1000000.f
MaEtUgR Dec 11, 2024
7510980
LidarLitePWM: refactor static cast and comment
MaEtUgR Dec 11, 2024
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
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Expand Up @@ -12,7 +12,6 @@

. ${R}etc/init.d/rc.fw_defaults


param set UAVCAN_ENABLE 0

param set-default CA_AIRFRAME 1
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
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Expand Up @@ -21,7 +21,6 @@

. ${R}etc/init.d/rc.mc_defaults


param set-default MAV_TYPE 14

param set-default CA_ROTOR_COUNT 8
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
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Expand Up @@ -11,7 +11,6 @@

. ${R}etc/init.d/rc.heli_defaults


# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
# P is expected to be lower than FF.
param set-default MC_ROLLRATE_P 0
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
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Expand Up @@ -22,7 +22,6 @@

. ${R}etc/init.d/rc.fw_defaults


param set-default BAT1_CAPACITY 2500
param set-default BAT1_N_CELLS 3

Expand All @@ -41,7 +40,6 @@ param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_P_RMAX_NEG 20


param set-default CA_AIRFRAME 1

param set-default CA_ROTOR_COUNT 1
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
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Expand Up @@ -20,7 +20,6 @@

. ${R}etc/init.d/rc.fw_defaults


param set-default BAT1_CAPACITY 3300
param set-default BAT1_N_CELLS 3

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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
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Expand Up @@ -19,7 +19,6 @@ param set-default NAV_ACC_RAD 2
param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30


param set-default CA_ROTOR_COUNT 12
# Bottom motors
param set-default CA_ROTOR0_PX 0
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
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Expand Up @@ -21,7 +21,6 @@ param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4


param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000
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5 changes: 0 additions & 5 deletions ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
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Expand Up @@ -38,7 +38,6 @@ param set-default COM_FLTMODE5 -1
param set-default COM_FLTMODE6 1
param set-default COM_RC_LOSS_T 3


# ekf2
param set-default EKF2_BARO_NOISE 2

Expand Down Expand Up @@ -79,19 +78,16 @@ param set-default EKF2_RNG_POS_Z 0.033

param set-default EKF2_TERR_NOISE 1


# Maximum allowed angle velocity in the landed state
param set-default LNDMC_ROT_MAX 40

# Maximum vertical velocity allowed in the landed state
param set-default LNDMC_Z_VEL_MAX 0.7


# filtering
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 65


# Pitch angle & rate setting
param set-default MC_PITCHRATE_P 0.075
param set-default MC_PITCHRATE_I 0.1
Expand Down Expand Up @@ -148,7 +144,6 @@ param set-default RC_MAP_RETURN_SW 7

param set-default RC1_TRIM 1000


# optical flow
param set-default SENS_FLOW_MAXR 7.4
param set-default SENS_FLOW_MINHGT 0.15
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4071_ifo
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Expand Up @@ -30,7 +30,6 @@ param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100

# System

param set-default SENS_BOARD_ROT 10

# EKF2
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
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Expand Up @@ -18,7 +18,6 @@
#
. ${R}etc/init.d/rc.mc_defaults


param set-default SYS_HAS_MAG 0
param set-default EKF2_OF_CTRL 1
param set-default EKF2_GPS_CTRL 0
Expand Down Expand Up @@ -85,6 +84,5 @@ param set-default PWM_MAIN_MAX3 255

param set-default SENS_FLOW_MINRNG 0.05


syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
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Expand Up @@ -40,7 +40,6 @@ param set-default RD_YAW_I 0.1
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0.01


# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle
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Expand Up @@ -15,7 +15,6 @@

. ${R}etc/init.d/rc.rover_defaults


param set-default BAT1_N_CELLS 2

param set-default EKF2_ANGERR_INIT 0.01
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
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Expand Up @@ -22,7 +22,6 @@

. ${R}etc/init.d/rc.uuv_defaults


param set-default MAV_1_CONFIG 102

param set-default BAT1_A_PER_V 37.8798
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2 changes: 1 addition & 1 deletion src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.cpp
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Expand Up @@ -109,7 +109,7 @@ LidarLitePWM::measure()
return PX4_ERROR;
}

const float current_distance = float(_pwm.pulse_width) * 1e-3f; /* 10 usec = 1 cm distance for LIDAR-Lite */
const float current_distance = static_cast<float>(_pwm.pulse_width) * 1e-3f; // 1us = 1mm distance for LIDAR-Lite

/* Due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0) */
if (current_distance <= 0.0f) {
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4 changes: 2 additions & 2 deletions src/drivers/rpm/pcf8583/PCF8583.cpp
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Expand Up @@ -195,8 +195,8 @@ void PCF8583::RunImpl()
}

// Calculate RPM and accuracy estimation
float indicated_rpm = (((float)diffCount / _param_pcf8583_magnet.get()) / ((float)diffTime / 1000000.f)) * 60.f;
float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1000000) * 60.f;
float indicated_rpm = (((float)diffCount / _param_pcf8583_magnet.get()) / ((float)diffTime / 1e6f)) * 60.f;
float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1e6f) * 60.f;

// publish data to uorb
rpm_s msg{};
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