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fw_pos_control_l1: fixed code style

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-07-25 08:56:19 +02:00
committed by Andreas Antener
parent ec334f7c9b
commit 6226a0c77d
1 changed files with 7 additions and 3 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+7 -3
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@@ -1993,6 +1993,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (fabsf(_manual.y) > 0.01f) {
_att_sp.roll_body = _manual.y * _parameters.man_roll_max_rad;
} else {
_att_sp.roll_body = 0.0f;
}
@@ -2002,6 +2003,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/** MANUAL FLIGHT **/
setpoint = false;
if (_control_mode.flag_control_attitude_enabled) {
_att_sp.roll_body = _manual.y * _parameters.man_roll_max_rad;
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max_rad;
@@ -2050,8 +2052,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust = 0.0f;
} else if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
_att_sp.thrust = math::min(_att_sp.thrust, _parameters.throttle_max);
} else {
/* Copy thrust and pitch values from tecs */
if (_vehicle_land_detected.landed) {
@@ -2071,13 +2075,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// auto runway takeoff
use_tecs_pitch &= !(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
(_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled()));
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
(_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled()));
// flaring during landing
use_tecs_pitch &= !(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND &&
_land_noreturn_vertical);
_land_noreturn_vertical);
// manual attitude control
use_tecs_pitch &= !(_control_mode_current == FW_POSCTRL_MODE_OTHER);