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fix: format

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Pedro-Roque
2025-04-13 15:02:09 +02:00
parent 4eb3a238a5
commit 4593471ebe
2 changed files with 5 additions and 5 deletions
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src/modules/commander/Commander.cpp
+1
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@@ -1734,6 +1734,7 @@ void Commander::updateParameters()
} else if (is_ground) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
} else if (is_spacecraft(_vehicle_status)) {
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_SPACECRAFT;
}
src/modules/spacecraft/SpacecraftRateControl/SpacecraftRateControl.cpp
+4 -5
View File
@@ -77,8 +77,7 @@ void SpacecraftRateControl::updateParams()
void SpacecraftRateControl::updateRateControl()
{
if (_vehicle_angular_velocity_sub.update(&angular_velocity))
{
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
const hrt_abstime now = angular_velocity.timestamp_sample;
// Guard against too small (< 0.125ms) and too large (> 20ms) dt's.
@@ -96,7 +95,7 @@ void SpacecraftRateControl::updateRateControl()
vehicle_rates_setpoint_s vehicle_rates_setpoint{};
if (_vehicle_control_mode.flag_control_manual_enabled &&
!_vehicle_control_mode.flag_control_attitude_enabled) {
!_vehicle_control_mode.flag_control_attitude_enabled) {
// Here we can be in: Manual Mode or Acro Mode
// generate the rate setpoint from sticks
manual_control_setpoint_s manual_control_setpoint;
@@ -105,8 +104,8 @@ void SpacecraftRateControl::updateRateControl()
if (_vehicle_control_mode.flag_control_rates_enabled) {
// manual rates control - ACRO mode
const Vector3f man_rate_sp{manual_control_setpoint.roll,
-manual_control_setpoint.pitch,
manual_control_setpoint.yaw};
-manual_control_setpoint.pitch,
manual_control_setpoint.yaw};
_rates_setpoint = man_rate_sp * 5;
_thrust_setpoint(2) = -manual_control_setpoint.throttle;