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mc att control: ran fix code style script

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This commit is contained in:
Thomas Gubler
2014-12-05 09:02:06 +01:00
parent 4c950eb76b
commit 2f646e7082
5 changed files with 71 additions and 53 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+15 -8
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@@ -477,8 +477,9 @@ MulticopterAttitudeControl::task_main()
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit */
if (pret == 0)
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@@ -522,10 +523,11 @@ MulticopterAttitudeControl::task_main()
if (_att_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub,
&_v_att_sp);
&_v_att_sp);
} else {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint),
&_v_att_sp);
&_v_att_sp);
}
}
@@ -547,7 +549,8 @@ MulticopterAttitudeControl::task_main()
/* attitude controller disabled, poll rates setpoint topic */
if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x,
_manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
@@ -630,18 +633,21 @@ MulticopterAttitudeControl::start()
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 1)
if (argc < 1) {
errx(1, "usage: mc_att_control {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr)
if (mc_att_control::g_control != nullptr) {
errx(1, "already running");
}
mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr)
if (mc_att_control::g_control == nullptr) {
errx(1, "alloc failed");
}
if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control;
@@ -653,8 +659,9 @@ int mc_att_control_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr)
if (mc_att_control::g_control == nullptr) {
errx(1, "not running");
}
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;