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Remove magic numbers from commander.cpp and style fixes

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acfloria
2018-01-10 17:08:12 +01:00
committed by Beat Küng
parent 00f6ef1d2f
commit 1cc84ad8c9
3 changed files with 17 additions and 7 deletions
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src/modules/commander/commander.cpp
+13 -6
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@@ -84,6 +84,8 @@
#include <cfloat>
#include <cstring>
#include <mavlink/mavlink_main.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
@@ -142,6 +144,9 @@ typedef enum VEHICLE_MODE_FLAG
#define INAIR_RESTART_HOLDOFF_INTERVAL 500000
#define MAVLINK_ENABLE_TRANSMITTING 1 /**< parameter value to enable transmitting for a mavlink instance */
#define MAVLINK_DISABLE_TRANSMITTING 0 /**< parameter value to disable transmitting for a mavlink instance */
/* Controls the probation period which is the amount of time required for position and velocity checks to pass before the validity can be changed from false to true*/
#define POSVEL_PROBATION_TAKEOFF 30 /**< probation duration set at takeoff (sec) */
@@ -2564,15 +2569,17 @@ Commander::run()
telemetry_lost[i] = false;
have_link = true;
if (!telemetry_high_latency[i])
if (!telemetry_high_latency[i]) {
have_low_latency_link = true;
}
} else if (!telemetry_lost[i]) {
/* telemetry was healthy also in last iteration
* we don't have to check a timeout */
have_link = true;
if (!telemetry_high_latency[i])
if (!telemetry_high_latency[i]) {
have_low_latency_link = true;
}
}
} else {
@@ -2603,8 +2610,8 @@ Commander::run()
vehicle_command_s vehicle_cmd;
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_MAVLINK_ENABLE_SENDING;
vehicle_cmd.param1 = 6;
vehicle_cmd.param2 = 0;
vehicle_cmd.param1 = Mavlink::MAVLINK_MODE::MAVLINK_MODE_IRIDIUM;
vehicle_cmd.param2 = MAVLINK_DISABLE_TRANSMITTING;
if (vehicle_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), vehicle_cmd_pub, &vehicle_cmd);
@@ -2628,8 +2635,8 @@ Commander::run()
mavlink_log_critical(&mavlink_log_pub, "ALL LOW LATENCY DATA LINKS LOST, ACTIVATING HIGH LATENCY LINK");
vehicle_command_s vehicle_cmd;
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_MAVLINK_ENABLE_SENDING;
vehicle_cmd.param1 = 6;
vehicle_cmd.param2 = 1;
vehicle_cmd.param1 = Mavlink::MAVLINK_MODE::MAVLINK_MODE_IRIDIUM;
vehicle_cmd.param2 = MAVLINK_ENABLE_TRANSMITTING;
if (vehicle_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), vehicle_cmd_pub, &vehicle_cmd);