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Change C++ code style: put curly brace on the same line

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This commit is contained in:
Oleg Kalachev
2023-12-29 18:56:25 +03:00
parent 645b148564
commit d2296fea76
19 changed files with 65 additions and 130 deletions
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21
flix/imu.ino
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@@ -11,8 +11,7 @@
MPU9250 IMU(SPI, IMU_CS_PIN);
void setupIMU()
{
void setupIMU() {
Serial.println("Setup IMU");
auto status = IMU.begin();
@@ -35,8 +34,7 @@ void setupIMU()
// NOTE: very important, without the above the rate would be terrible 50 Hz
}
bool readIMU()
{
bool readIMU() {
if (IMU.readSensor() < 0) {
Serial.println("IMU read error");
return false;
@@ -54,8 +52,7 @@ bool readIMU()
return rates != lastRates;
}
void calibrateGyro()
{
void calibrateGyro() {
Serial.println("Calibrating gyro, stand still");
delay(500);
int status = IMU.calibrateGyro();
@@ -64,8 +61,7 @@ void calibrateGyro()
printIMUCal();
}
void calibrateAccel()
{
void calibrateAccel() {
Serial.println("Cal accel: place level"); delay(3000);
IMU.calibrateAccel();
Serial.println("Cal accel: place nose up"); delay(3000);
@@ -81,24 +77,21 @@ void calibrateAccel()
printIMUCal();
}
void loadAccelCal()
{
void loadAccelCal() {
// NOTE: this should be changed to the actual values
IMU.setAccelCalX(-0.0048542023, 1.0008112192);
IMU.setAccelCalY(0.0521845818, 0.9985780716);
IMU.setAccelCalZ(0.5754694939, 1.0045746565);
}
void loadGyroCal()
{
void loadGyroCal() {
// NOTE: this should be changed to the actual values
IMU.setGyroBiasX_rads(-0.0185128022);
IMU.setGyroBiasY_rads(-0.0262369743);
IMU.setGyroBiasZ_rads(0.0163032326);
}
void printIMUCal()
{
void printIMUCal() {
Serial.printf("gyro bias: %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
Serial.printf("accel bias: %f %f %f\n", IMU.getAccelBiasX_mss(), IMU.getAccelBiasY_mss(), IMU.getAccelBiasZ_mss());
Serial.printf("accel scale: %f %f %f\n", IMU.getAccelScaleFactorX(), IMU.getAccelScaleFactorY(), IMU.getAccelScaleFactorZ());