Standardize method name style in navigator_main.cpp and whitespace formatting in navigator.h

src/modules/navigator/navigator.h

@@ -155,26 +155,30 @@ public:
 	/**
 	 * Getters
 	 */
-	struct home_position_s *get_home_position() { return &_home_pos; }
+	home_position_s             *get_home_position() { return &_home_pos; }
-	struct mission_result_s *get_mission_result() { return &_mission_result; }
+	mission_result_s            *get_mission_result() { return &_mission_result; }
-	struct position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; }
+	position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; }
-	struct position_setpoint_triplet_s *get_reposition_triplet() { return &_reposition_triplet; }
+	position_setpoint_triplet_s *get_reposition_triplet() { return &_reposition_triplet; }
-	struct position_setpoint_triplet_s *get_takeoff_triplet() { return &_takeoff_triplet; }
+	position_setpoint_triplet_s *get_takeoff_triplet() { return &_takeoff_triplet; }
-	struct vehicle_global_position_s *get_global_position() { return &_global_pos; }
+	vehicle_global_position_s   *get_global_position() { return &_global_pos; }
-	struct vehicle_land_detected_s *get_land_detected() { return &_land_detected; }
+	vehicle_land_detected_s     *get_land_detected() { return &_land_detected; }
-	struct vehicle_local_position_s *get_local_position() { return &_local_pos; }
+	vehicle_local_position_s    *get_local_position() { return &_local_pos; }
-	struct vehicle_status_s *get_vstatus() { return &_vstatus; }
+	vehicle_status_s            *get_vstatus() { return &_vstatus; }
+
 	PrecLand *get_precland() { return &_precland; } /**< allow others, e.g. Mission, to use the precision land block */
 
 	const vehicle_roi_s &get_vroi() { return _vroi; }
+
 	void reset_vroi() { _vroi = {}; }
 
 	bool home_alt_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt); }
+
 	bool home_position_valid() { return (_home_pos.timestamp > 0 && _home_pos.valid_alt && _home_pos.valid_hpos && _home_pos.valid_lpos); }
 
 	Geofence &get_geofence() { return _geofence; }
 
 	bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
+
 	float get_loiter_radius() { return _param_nav_loiter_rad.get(); }
 
 	/**
@@ -260,10 +264,10 @@ public:
 	 */
 	float get_yaw_acceptance(float mission_item_yaw);
 
-
 	orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; }
 
 	void increment_mission_instance_count() { _mission_result.instance_count++; }
+
 	int mission_instance_count() const { return _mission_result.instance_count; }
 
 	void set_mission_failure_heading_timeout();
@@ -273,10 +277,15 @@ public:
 	bool getMissionLandingInProgress() { return _mission_landing_in_progress; }
 
 	bool is_planned_mission() const { return _navigation_mode == &_mission; }
+
 	bool on_mission_landing() { return _mission.landing(); }
+
 	bool start_mission_landing() { return _mission.land_start(); }
+
 	bool get_mission_start_land_available() { return _mission.get_land_start_available(); }
+
 	int  get_mission_landing_index() { return _mission.get_land_start_index(); }
+
 	double get_mission_landing_start_lat() { return _mission.get_landing_start_lat(); }
 	double get_mission_landing_start_lon() { return _mission.get_landing_start_lon(); }
 	float  get_mission_landing_start_alt() { return _mission.get_landing_start_alt(); }
@@ -287,6 +296,7 @@ public:
 
 	// RTL
 	bool mission_landing_required() { return _rtl.get_rtl_type() == RTL::RTL_TYPE_MISSION_LANDING; }
+
 	bool in_rtl_state() const { return _vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; }
 
 	bool abort_landing();
@@ -310,31 +320,6 @@ public:
 	void release_gimbal_control();
 
 private:
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad,	/**< loiter radius for fixedwing */
-		(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,	/**< acceptance for takeoff */
-		(ParamFloat<px4::params::NAV_FW_ALT_RAD>)
-		_param_nav_fw_alt_rad,	/**< acceptance radius for fixedwing altitude */
-		(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
-		_param_nav_fw_altl_rad,	/**< acceptance radius for fixedwing altitude before landing*/
-		(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
-		_param_nav_mc_alt_rad,	/**< acceptance radius for multicopter altitude */
-		(ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt,	/**< acceptance radius for multicopter altitude */
-		(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid,	/**< avoiding other aircraft is enabled */
-		(ParamFloat<px4::params::NAV_TRAFF_A_RADU>) _param_nav_traff_a_radu,	/**< avoidance Distance Unmanned*/
-		(ParamFloat<px4::params::NAV_TRAFF_A_RADM>) _param_nav_traff_a_radm,	/**< avoidance Distance Manned*/
-
-		// non-navigator parameters
-		// Mission (MIS_*)
-		(ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
-		(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
-		(ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
-		(ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
-		(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err,
-
-		(ParamFloat<px4::params::LNDMC_ALT_MAX>)    _param_lndmc_alt_max
-
-	)
 
 	struct traffic_buffer_s {
 		uint32_t 	icao_address;
@@ -345,6 +330,8 @@ private:
 	int _mission_sub{-1};
 	int _vehicle_status_sub{-1};
 
+	uORB::SubscriptionData<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
+
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};	/**< global position subscription */
@@ -355,18 +342,15 @@ private:
 	uORB::Subscription _traffic_sub{ORB_ID(transponder_report)};		/**< traffic subscription */
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};	/**< vehicle commands (onboard and offboard) */
 
-	uORB::SubscriptionData<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
-
 	uORB::Publication<geofence_result_s>		_geofence_result_pub{ORB_ID(geofence_result)};
 	uORB::Publication<mission_result_s>		_mission_result_pub{ORB_ID(mission_result)};
 	uORB::Publication<position_setpoint_triplet_s>	_pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
+	uORB::Publication<vehicle_command_ack_s>	_vehicle_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
+	uORB::Publication<vehicle_command_s>		_vehicle_cmd_pub{ORB_ID(vehicle_command)};
 	uORB::Publication<vehicle_roi_s>		_vehicle_roi_pub{ORB_ID(vehicle_roi)};
 
 	orb_advert_t	_mavlink_log_pub{nullptr};	/**< the uORB advert to send messages over mavlink */
 
-	uORB::Publication<vehicle_command_ack_s>	_vehicle_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
-	uORB::Publication<vehicle_command_s>	_vehicle_cmd_pub{ORB_ID(vehicle_command)};
-
 	// Subscriptions
 	home_position_s					_home_pos{};		/**< home position for RTL */
 	mission_result_s				_mission_result{};
@@ -388,16 +372,17 @@ private:
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
 	Geofence	_geofence;			/**< class that handles the geofence */
-	bool		_geofence_violation_warning_sent{false}; /**< prevents spaming to mavlink */
+
 	GeofenceBreachAvoidance _gf_breach_avoidance;
+
 	hrt_abstime _last_geofence_check = 0;
 
+	bool		_geofence_violation_warning_sent{false};	/**< prevents spaming to mavlink */
 	bool		_can_loiter_at_sp{false};			/**< flags if current position SP can be used to loiter */
 	bool		_pos_sp_triplet_updated{false};			/**< flags if position SP triplet needs to be published */
 	bool 		_pos_sp_triplet_published_invalid_once{false};	/**< flags if position SP triplet has been published once to UORB */
 	bool		_mission_result_updated{false};			/**< flags if mission result has seen an update */
 
-	NavigatorMode	*_navigation_mode{nullptr};		/**< abstract pointer to current navigation mode class */
 	Mission		_mission;			/**< class that handles the missions */
 	Loiter		_loiter;			/**< class that handles loiter */
 	Takeoff		_takeoff;			/**< class for handling takeoff commands */
@@ -407,7 +392,8 @@ private:
 	EngineFailure	_engineFailure;			/**< class that handles the engine failure mode (FW only!) */
 	FollowTarget	_follow_target;
 
-	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
+	NavigatorMode *_navigation_mode{nullptr};	/**< abstract pointer to current navigation mode class */
+	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE] {};	/**< array of navigation modes */
 
 	param_t _handle_back_trans_dec_mss{PARAM_INVALID};
 	param_t _handle_reverse_delay{PARAM_INVALID};
@@ -423,8 +409,8 @@ private:
 	float _mission_cruising_speed_fw{-1.0f};
 	float _mission_throttle{NAN};
 
-	bool _mission_landing_in_progress{false};	// this flag gets set if the mission is currently executing on a landing pattern
+	bool _mission_landing_in_progress{false};	/**< this flag gets set if the mission is currently executing on a landing pattern
-	// if mission mode is inactive, this flag will be cleared after 2 seconds
+							 * if mission mode is inactive, this flag will be cleared after 2 seconds */
 
 	traffic_buffer_s _traffic_buffer{};
 
@@ -444,4 +430,26 @@ private:
 	void publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result);
 
 	bool geofence_allows_position(const vehicle_global_position_s &pos);
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::NAV_LOITER_RAD>)   _param_nav_loiter_rad,	/**< loiter radius for fixedwing */
+		(ParamFloat<px4::params::NAV_ACC_RAD>)      _param_nav_acc_rad,		/**< acceptance for takeoff */
+		(ParamFloat<px4::params::NAV_FW_ALT_RAD>)   _param_nav_fw_alt_rad,	/**< acceptance rad for fixedwing alt */
+		(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
+		_param_nav_fw_altl_rad,	/**< acceptance rad for fixedwing alt before landing*/
+		(ParamFloat<px4::params::NAV_MC_ALT_RAD>)   _param_nav_mc_alt_rad,	/**< acceptance rad for multicopter alt */
+		(ParamInt<px4::params::NAV_FORCE_VT>)       _param_nav_force_vt,	/**< acceptance radius for multicopter alt */
+		(ParamInt<px4::params::NAV_TRAFF_AVOID>)    _param_nav_traff_avoid,	/**< avoiding other aircraft is enabled */
+		(ParamFloat<px4::params::NAV_TRAFF_A_RADU>) _param_nav_traff_a_radu,	/**< avoidance Distance Unmanned*/
+		(ParamFloat<px4::params::NAV_TRAFF_A_RADM>) _param_nav_traff_a_radm,	/**< avoidance Distance Manned*/
+
+		// non-navigator parameters
+		// Mission (MIS_*)
+		(ParamFloat<px4::params::MIS_LTRMIN_ALT>)  _param_mis_ltrmin_alt,
+		(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
+		(ParamBool<px4::params::MIS_TAKEOFF_REQ>)  _param_mis_takeoff_req,
+		(ParamFloat<px4::params::MIS_YAW_TMT>)     _param_mis_yaw_tmt,
+		(ParamFloat<px4::params::MIS_YAW_ERR>)     _param_mis_yaw_err,
+		(ParamFloat<px4::params::LNDMC_ALT_MAX>)   _param_lndmc_alt_max
+
+	)
 };

src/modules/navigator/navigator_main.cpp

@@ -59,13 +59,8 @@
 #include <px4_platform_common/tasks.h>
 #include <systemlib/mavlink_log.h>
 
-/**
- * navigator app start / stop handling function
- *
- * @ingroup apps
- */
-extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
 using namespace time_literals;
+
 namespace navigator
 {
 Navigator *g_navigator;
@@ -116,8 +111,7 @@ Navigator::~Navigator()
 	orb_unsubscribe(_vehicle_status_sub);
 }
 
-void
+void Navigator::params_update()
-Navigator::params_update()
 {
 	updateParams();
 
@@ -138,8 +132,7 @@ Navigator::params_update()
 	}
 }
 
-void
+void Navigator::run()
-Navigator::run()
 {
 	bool have_geofence_position_data = false;
 
@@ -776,7 +769,6 @@ Navigator::run()
 
 void Navigator::geofence_breach_check(bool &have_geofence_position_data)
 {
-
 	if (have_geofence_position_data &&
 	    (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
 	    (hrt_elapsed_time(&_last_geofence_check) > GEOFENCE_CHECK_INTERVAL_US)) {
@@ -934,8 +926,7 @@ Navigator *Navigator::instantiate(int argc, char *argv[])
 	return instance;
 }
 
-int
+int Navigator::print_status()
-Navigator::print_status()
 {
 	PX4_INFO("Running");
 
@@ -943,22 +934,19 @@ Navigator::print_status()
 	return 0;
 }
 
-void
+void Navigator::publish_position_setpoint_triplet()
-Navigator::publish_position_setpoint_triplet()
 {
 	_pos_sp_triplet.timestamp = hrt_absolute_time();
 	_pos_sp_triplet_pub.publish(_pos_sp_triplet);
 	_pos_sp_triplet_updated = false;
 }
 
-float
+float Navigator::get_default_acceptance_radius()
-Navigator::get_default_acceptance_radius()
 {
 	return _param_nav_acc_rad.get();
 }
 
-float
+float Navigator::get_default_altitude_acceptance_radius()
-Navigator::get_default_altitude_acceptance_radius()
 {
 	if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 		return _param_nav_fw_alt_rad.get();
@@ -980,8 +968,7 @@ Navigator::get_default_altitude_acceptance_radius()
 	}
 }
 
-float
+float Navigator::get_altitude_acceptance_radius()
-Navigator::get_altitude_acceptance_radius()
 {
 	if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 		const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
@@ -995,8 +982,7 @@ Navigator::get_altitude_acceptance_radius()
 	return get_default_altitude_acceptance_radius();
 }
 
-float
+float Navigator::get_cruising_speed()
-Navigator::get_cruising_speed()
 {
 	/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */
 	if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
@@ -1017,8 +1003,7 @@ Navigator::get_cruising_speed()
 	}
 }
 
-void
+void Navigator::set_cruising_speed(float speed)
-Navigator::set_cruising_speed(float speed)
 {
 	if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		_mission_cruising_speed_mc = speed;
@@ -1028,15 +1013,13 @@ Navigator::set_cruising_speed(float speed)
 	}
 }
 
-void
+void Navigator::reset_cruising_speed()
-Navigator::reset_cruising_speed()
 {
 	_mission_cruising_speed_mc = -1.0f;
 	_mission_cruising_speed_fw = -1.0f;
 }
 
-void
+void Navigator::reset_triplets()
-Navigator::reset_triplets()
 {
 	reset_position_setpoint(_pos_sp_triplet.previous);
 	reset_position_setpoint(_pos_sp_triplet.current);
@@ -1045,8 +1028,7 @@ Navigator::reset_triplets()
 	_pos_sp_triplet_updated = true;
 }
 
-void
+void Navigator::reset_position_setpoint(position_setpoint_s &sp)
-Navigator::reset_position_setpoint(position_setpoint_s &sp)
 {
 	sp = position_setpoint_s{};
 	sp.timestamp = hrt_absolute_time();
@@ -1061,8 +1043,7 @@ Navigator::reset_position_setpoint(position_setpoint_s &sp)
 	sp.disable_weather_vane = false;
 }
 
-float
+float Navigator::get_cruising_throttle()
-Navigator::get_cruising_throttle()
 {
 	/* Return the mission-requested cruise speed, or default FW_THR_CRUISE value */
 	if (_mission_throttle > FLT_EPSILON) {
@@ -1073,8 +1054,7 @@ Navigator::get_cruising_throttle()
 	}
 }
 
-float
+float Navigator::get_acceptance_radius()
-Navigator::get_acceptance_radius()
 {
 	float acceptance_radius = get_default_acceptance_radius(); // the value specified in the parameter NAV_ACC_RAD
 	const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
@@ -1089,8 +1069,7 @@ Navigator::get_acceptance_radius()
 	return acceptance_radius;
 }
 
-float
+float Navigator::get_yaw_acceptance(float mission_item_yaw)
-Navigator::get_yaw_acceptance(float mission_item_yaw)
 {
 	float yaw = mission_item_yaw;
 
@@ -1105,20 +1084,17 @@ Navigator::get_yaw_acceptance(float mission_item_yaw)
 	return yaw;
 }
 
-void
+void Navigator::load_fence_from_file(const char *filename)
-Navigator::load_fence_from_file(const char *filename)
 {
 	_geofence.loadFromFile(filename);
 }
 
-/**
- * Creates a fake traffic measurement with supplied parameters.
- *
- */
 void Navigator::fake_traffic(const char *callsign, float distance, float direction, float traffic_heading,
 			     float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)
 {
-	double lat, lon;
+	double lat{0.0};
+	double lon{0.0};
+
 	waypoint_from_heading_and_distance(get_global_position()->lat, get_global_position()->lon, direction, distance, &lat,
 					   &lon);
 	float alt = get_global_position()->alt + altitude_diff;
@@ -1148,9 +1124,6 @@ void Navigator::fake_traffic(const char *callsign, float distance, float directi
 		    transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN); // Flags to indicate various statuses including valid data fields
 	tr.squawk = 6667;
 
-
-
-
 #ifndef BOARD_HAS_NO_UUID
 	px4_guid_t px4_guid;
 	board_get_px4_guid(px4_guid);
@@ -1370,8 +1343,7 @@ void Navigator::check_traffic()
 	}
 }
 
-bool
+bool Navigator::buffer_air_traffic(uint32_t icao_address)
-Navigator::buffer_air_traffic(uint32_t icao_address)
 {
 	bool action_needed = true;
 
@@ -1392,8 +1364,7 @@ Navigator::buffer_air_traffic(uint32_t icao_address)
 	return action_needed;
 }
 
-bool
+bool Navigator::abort_landing()
-Navigator::abort_landing()
 {
 	// only abort if currently landing and position controller status updated
 	bool should_abort = false;
@@ -1416,8 +1387,7 @@ Navigator::abort_landing()
 	return should_abort;
 }
 
-bool
+bool Navigator::force_vtol()
-Navigator::force_vtol()
 {
 	return _vstatus.is_vtol &&
 	       (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || _vstatus.in_transition_to_fw)
@@ -1448,13 +1418,7 @@ int Navigator::custom_command(int argc, char *argv[])
 	return print_usage("unknown command");
 }
 
-int navigator_main(int argc, char *argv[])
+void Navigator::publish_mission_result()
-{
-	return Navigator::main(argc, argv);
-}
-
-void
-Navigator::publish_mission_result()
 {
 	_mission_result.timestamp = hrt_absolute_time();
 
@@ -1469,8 +1433,7 @@ Navigator::publish_mission_result()
 	_mission_result_updated = false;
 }
 
-void
+void Navigator::set_mission_failure_heading_timeout()
-Navigator::set_mission_failure_heading_timeout()
 {
 	if (!_mission_result.failure) {
 		_mission_result.failure = true;
@@ -1481,8 +1444,7 @@ Navigator::set_mission_failure_heading_timeout()
 	}
 }
 
-void
+void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
-Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
 {
 	vcmd->timestamp = hrt_absolute_time();
 	vcmd->source_system = _vstatus.system_id;
@@ -1509,8 +1471,7 @@ Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
 	_vehicle_cmd_pub.publish(*vcmd);
 }
 
-void
+void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result)
-Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t result)
 {
 	vehicle_command_ack_s command_ack = {};
 
@@ -1527,8 +1488,7 @@ Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_t res
 	_vehicle_cmd_ack_pub.publish(command_ack);
 }
 
-void
+void Navigator::acquire_gimbal_control()
-Navigator::acquire_gimbal_control()
 {
 	vehicle_command_s vcmd = {};
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
@@ -1539,8 +1499,7 @@ Navigator::acquire_gimbal_control()
 	publish_vehicle_cmd(&vcmd);
 }
 
-void
+void Navigator::release_gimbal_control()
-Navigator::release_gimbal_control()
 {
 	vehicle_command_s vcmd = {};
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE;
@@ -1595,3 +1554,13 @@ controller.
 
 	return 0;
 }
+
+/**
+ * navigator app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int navigator_main(int argc, char *argv[])
+{
+	return Navigator::main(argc, argv);
+}