fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 16:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mechanical style fixups

Browse Source
This commit is contained in:
px4dev
2012-08-14 08:47:04 -07:00
parent 92a1fab0fd
commit 34118c72ef
10 changed files with 84 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4/fmu/fmu.cpp
+37 -28
View File
@@ -100,10 +100,10 @@ private:
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
static int control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
static int control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
int control_callback(uint8_t control_group,
uint8_t control_index,
float &input);
@@ -285,7 +285,7 @@ FMUServo::task_main()
}
int
FMUServo::control_callback_trampoline(uintptr_t handle,
FMUServo::control_callback_trampoline(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
@@ -363,6 +363,7 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
} else {
*(unsigned *)arg = 2;
}
break;
case MIXERIOCRESET:
@@ -370,22 +371,27 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
_mixers->add_mixer(mixer);
SimpleMixer *mixer = new SimpleMixer(control_callback_trampoline, (uintptr_t)this, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
_mixers->add_mixer(mixer);
}
break;
}
break;
}
case MIXERIOCADDMULTIROTOR:
/* XXX not yet supported */
@@ -393,20 +399,23 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
break;
case MIXERIOCLOADFILE: {
const char *path = (const char *)arg;
const char *path = (const char *)arg;
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
if (_mixers->load_from_file(path) != 0) {
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
break;
}
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
if (_mixers->load_from_file(path) != 0) {
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
break;
}
default:
ret = -ENOTTY;