From 6c55574cd9ab16cb7ed017f2ecf14433014880c0 Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Mon, 13 Mar 2023 18:04:13 +0100 Subject: [PATCH] formatting --- .../FlightTaskAutoPrecisionLanding.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp b/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp index 4ea64d80b1..ac2b6d7e07 100644 --- a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp +++ b/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp @@ -256,8 +256,8 @@ FlightTaskAutoPrecisionLanding::run_state_search() if (try_switch_to_state_move_above_target()) { return; } - } else - if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) { + + } else if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) { // Search timed out and go to fallback PX4_WARN("Search timed out"); @@ -369,7 +369,8 @@ bool FlightTaskAutoPrecisionLanding::check_state_conditions(PrecLandState state) // if we're already in this state, only want to make it invalid if we reached the target but can't see it anymore if (_state == PrecLandState::MoveAboveTarget) { - if (Vector2f(Vector2f(_landing_target_pose.x_abs, _landing_target_pose.y_abs) - _position.xy()).norm() <= _param_pld_hacc_rad.get()) { + if (Vector2f(Vector2f(_landing_target_pose.x_abs, + _landing_target_pose.y_abs) - _position.xy()).norm() <= _param_pld_hacc_rad.get()) { // we've reached the position where we last saw the target. If we don't see it now, we need to do something return _landing_target_pose_valid && _landing_target_pose.abs_pos_valid;