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astyle fix

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Youssef Demitri
2015-11-06 13:48:50 +01:00
parent 318eeb0494
commit 556a5dbd1d
1 changed files with 8 additions and 3 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+8 -3
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@@ -54,7 +54,7 @@
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h> #include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vision_position_estimate.h> #include <uORB/topics/vision_position_estimate.h>
@@ -527,22 +527,27 @@ void AttitudeEstimatorQ::task_main()
} }
struct control_state_s ctrl_state = {}; struct control_state_s ctrl_state = {};
ctrl_state.timestamp = sensors.timestamp; ctrl_state.timestamp = sensors.timestamp;
/* Attitude quaternions for control state */ /* Attitude quaternions for control state */
ctrl_state.q[0] = _q(0); ctrl_state.q[0] = _q(0);
ctrl_state.q[1] = _q(1); ctrl_state.q[1] = _q(1);
ctrl_state.q[2] = _q(2); ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3); ctrl_state.q[3] = _q(3);
/* Attitude rates for control state */ /* Attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0)); ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1)); ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
ctrl_state.roll_rate = _rates(2); ctrl_state.roll_rate = _rates(2);
/* Publish to control state topic */ /* Publish to control state topic */
if (_ctrl_state_pub == nullptr) if (_ctrl_state_pub == nullptr) {
{
_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state); _ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
} else { } else {