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Code style in MAVLink simulator

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This commit is contained in:
Lorenz Meier
2016-03-12 11:06:51 +01:00
parent 8e4a1ca36e
commit 155a0d7f18
1 changed files with 18 additions and 13 deletions
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src/modules/simulator/simulator_mavlink.cpp
+18 -13
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@@ -182,7 +182,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
mpu.gyro_y = imu->ygyro;
mpu.gyro_z = imu->zgyro;
write_MPU_data((void *)&mpu);
write_MPU_data(&mpu);
perf_begin(_perf_mpu);
RawAccelData accel = {};
@@ -190,7 +190,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
accel.y = imu->yacc;
accel.z = imu->zacc;
write_accel_data((void *)&accel);
write_accel_data(&accel);
perf_begin(_perf_accel);
RawMagData mag = {};
@@ -198,7 +198,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
mag.y = imu->ymag;
mag.z = imu->zmag;
write_mag_data((void *)&mag);
write_mag_data(&mag);
perf_begin(_perf_mag);
RawBaroData baro = {};
@@ -207,13 +207,13 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
baro.altitude = imu->pressure_alt;
baro.temperature = imu->temperature;
write_baro_data((void *)&baro);
write_baro_data(&baro);
RawAirspeedData airspeed = {};
airspeed.temperature = imu->temperature;
airspeed.diff_pressure = imu->diff_pressure;
write_airspeed_data((void *)&airspeed);
write_airspeed_data(&airspeed);
}
void Simulator::update_gps(mavlink_hil_gps_t *gps_sim)
@@ -242,6 +242,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
mavlink_hil_sensor_t imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
// set temperature to a decent value
imu.temperature = 32.0f;
uint64_t sim_timestamp = imu.time_usec;
struct timespec ts;
px4_clock_gettime(CLOCK_REALTIME, &ts);
@@ -781,8 +784,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
*/
/* gyro */
{
struct gyro_report gyro;
memset(&gyro, 0, sizeof(gyro));
struct gyro_report gyro = {};
gyro.timestamp = timestamp;
gyro.x_raw = imu->xgyro * 1000.0f;
@@ -792,6 +794,8 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
gyro.y = imu->ygyro;
gyro.z = imu->zgyro;
gyro.temperature = imu->temperature;
if (_gyro_pub == nullptr) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
@@ -802,8 +806,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
/* accelerometer */
{
struct accel_report accel;
memset(&accel, 0, sizeof(accel));
struct accel_report accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu->xacc / mg2ms2;
@@ -813,6 +816,8 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
accel.y = imu->yacc;
accel.z = imu->zacc;
accel.temperature = imu->temperature;
if (_accel_pub == nullptr) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
@@ -823,8 +828,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
/* magnetometer */
{
struct mag_report mag;
memset(&mag, 0, sizeof(mag));
struct mag_report mag = {};
mag.timestamp = timestamp;
mag.x_raw = imu->xmag * 1000.0f;
@@ -834,6 +838,8 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
mag.y = imu->ymag;
mag.z = imu->zmag;
mag.temperature = imu->temperature;
if (_mag_pub == nullptr) {
/* publish to the first mag topic */
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
@@ -845,8 +851,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
/* baro */
{
struct baro_report baro;
memset(&baro, 0, sizeof(baro));
struct baro_report baro = {};
baro.timestamp = timestamp;
baro.pressure = imu->abs_pressure;