fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

examples fix code style

Browse Source
This commit is contained in:
Daniel Agar
2015-03-19 23:49:36 +01:00
committed by Lorenz Meier
parent 0eaf41a048
commit 662ec3f62f
11 changed files with 201 additions and 188 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/examples/fixedwing_control/main.c
+26 -17
View File
@@ -112,8 +112,9 @@ static void usage(const char *reason);
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
* Control heading.
@@ -128,7 +129,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
* @param att_sp The attitude setpoint. This is the output of the controller
*/
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
/* Variables */
static bool thread_should_exit = false; /**< Daemon exit flag */
@@ -137,8 +138,9 @@ static int deamon_task; /**< Handle of deamon task / thread */
static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
/*
@@ -175,7 +177,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
}
void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
{
/*
@@ -192,6 +194,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct p
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.6f) {
att_sp->roll_body = -0.6f;
} else if (att_sp->roll_body > 0.6f) {
att_sp->roll_body = 0.6f;
}
@@ -285,7 +288,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* Setup of loop */
struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }};
{ .fd = att_sub, .events = POLLIN }
};
while (!thread_should_exit) {
@@ -345,12 +349,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
{
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
}
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.z) &&
(manual_sp.z >= 0.6f) &&
(manual_sp.z <= 1.0f)) {
(manual_sp.z >= 0.6f) &&
(manual_sp.z <= 1.0f)) {
}
/* get the system status and the flight mode we're in */
@@ -378,8 +384,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
thread_running = false;
/* kill all outputs */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
@@ -393,8 +400,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
static void
usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: ex_fixedwing_control {start|stop|status}\n\n");
exit(1);
@@ -410,8 +418,9 @@ usage(const char *reason)
*/
int ex_fixedwing_control_main(int argc, char *argv[])
{
if (argc < 1)
if (argc < 1) {
usage("missing command");
}
if (!strcmp(argv[1], "start")) {
@@ -423,11 +432,11 @@ int ex_fixedwing_control_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd("ex_fixedwing_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
fixedwing_control_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
fixedwing_control_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
thread_running = true;
exit(0);
}