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commander fix and enforce code style

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This commit is contained in:
Daniel Agar
2018-11-28 17:11:15 -05:00
parent 91721f2060
commit 48d9484ceb
16 changed files with 855 additions and 481 deletions
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src/modules/commander/calibration_routines.cpp
+9 -6
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@@ -800,14 +800,17 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
int calibrate_cancel_subscribe()
{
int vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
if (vehicle_command_sub >= 0) {
// make sure we won't read any old messages
struct vehicle_command_s cmd;
bool update;
while (orb_check(vehicle_command_sub, &update) == 0 && update) {
orb_copy(ORB_ID(vehicle_command), vehicle_command_sub, &cmd);
}
}
return vehicle_command_sub;
}
@@ -847,12 +850,12 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, int cancel_sub)
// ignore internal commands, such as VEHICLE_CMD_DO_MOUNT_CONTROL from vmount
if (cmd.from_external) {
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
calibrate_answer_command(mavlink_log_pub, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
mavlink_log_critical(mavlink_log_pub, CAL_QGC_CANCELLED_MSG);
return true;