Diff: PX4Flow.h

Revision:

3:e03714326b83

Parent:

1:562a583eb77c

Child:

9:be40afb750d3

--- a/PX4Flow.h	Wed Aug 21 13:21:41 2019 +0000
+++ b/PX4Flow.h	Thu Aug 22 14:22:58 2019 +0000
@@ -46,26 +46,26 @@
     int16_t flow_comp_m_x;      // x velocity*1000 in meters / timestep 6
     int16_t flow_comp_m_y;      // y velocity*1000 in meters / timestep 8 
     int16_t qual;               // Optical flow quality / confidence 0: bad, 255: maximum quality 10
-    int16_t gyro_x_rate;        //gyro x rate 12
-    int16_t gyro_y_rate;        //gyro y rate 14
-    int16_t gyro_z_rate;        //gyro z rate 16
+    int16_t gyro_x_rate;        // gyro x rate 12
+    int16_t gyro_y_rate;        // gyro y rate 14
+    int16_t gyro_z_rate;        // gyro z rate 16
     uint8_t gyro_range;         // gyro range 18
     uint8_t sonar_timestamp;    // timestep in milliseconds between I2C frames 19
     int16_t ground_distance;    // Ground distance in meters*1000. Positive value: distance known. Negative value: Unknown distance 20
 } i2c_frame;
 
 typedef struct i2c_integral_frame {
-    uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames] 22
-    int16_t pixel_flow_x_integral;          //accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] 24
-    int16_t pixel_flow_y_integral;          //accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] 26
-    int16_t gyro_x_rate_integral;           //accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] 28
-    int16_t gyro_y_rate_integral;           //accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] 30 
-    int16_t gyro_z_rate_integral;           //accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] 32
-    uint32_t integration_timespan;          //accumulation timespan in microseconds since last I2C readout [microseconds] 34
-    uint32_t sonar_timestamp;               // time since last sonar update [microseconds] 38
-    int16_t ground_distance;                // Ground distance in meters*1000 [meters*1000] 42
-    int16_t gyro_temperature;               // Temperature * 100 in centi-degrees Celsius [degcelsius*100] 44
-    uint8_t quality;                        // averaged quality of accumulated flow values [0:bad quality;255: max quality] 46
+    uint16_t frame_count_since_last_readout; // number of flow measurements since last I2C readout [#frames] 22
+    int16_t pixel_flow_x_integral;           // accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] 24
+    int16_t pixel_flow_y_integral;           // accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] 26
+    int16_t gyro_x_rate_integral;            // accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] 28
+    int16_t gyro_y_rate_integral;            // accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] 30 
+    int16_t gyro_z_rate_integral;            // accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] 32
+    uint32_t integration_timespan;           // accumulation timespan in microseconds since last I2C readout [microseconds] 34
+    uint32_t sonar_timestamp;                // time since last sonar update [microseconds] 38
+    int16_t ground_distance;                 // Ground distance in meters*1000 [meters*1000] 42
+    int16_t gyro_temperature;                // Temperature * 100 in centi-degrees Celsius [degcelsius*100] 44
+    uint8_t quality;                         // averaged quality of accumulated flow values [0:bad quality;255: max quality] 46
 } i2c_integral_frame;
 
 
@@ -74,6 +74,7 @@
 public:
     // Constructor
     PX4Flow(I2C& i2c, Serial& pc);
+    
     // Deconstructor
     virtual ~PX4Flow();