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cammander, navigator: code style fixed

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This commit is contained in:
Anton Babushkin
2014-01-23 17:56:38 +01:00
parent 3fe5e88fbe
commit 6ed6c5bb1f
3 changed files with 257 additions and 175 deletions
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src/modules/commander/state_machine_helper.cpp
+29 -27
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@@ -67,7 +67,7 @@ static bool flighttermination_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed)
arming_state_t new_arming_state, struct actuator_armed_s *armed)
{
/*
* Perform an atomic state update
@@ -85,6 +85,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
/* enforce lockdown in HIL */
if (status->hil_state == HIL_STATE_ON) {
armed->lockdown = true;
} else {
armed->lockdown = false;
}
@@ -238,8 +239,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
/* need at minimum altitude estimate */
if (!current_state->is_rotary_wing ||
(current_state->condition_local_altitude_valid ||
current_state->condition_global_position_valid)) {
(current_state->condition_local_altitude_valid ||
current_state->condition_global_position_valid)) {
ret = TRANSITION_CHANGED;
}
@@ -249,7 +250,7 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
/* need at minimum local position estimate */
if (current_state->condition_local_position_valid ||
current_state->condition_global_position_valid) {
current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -373,35 +374,36 @@ transition_result_t flighttermination_state_transition(struct vehicle_status_s *
{
transition_result_t ret = TRANSITION_DENIED;
/* only check transition if the new state is actually different from the current one */
if (new_flighttermination_state == status->flighttermination_state) {
ret = TRANSITION_NOT_CHANGED;
/* only check transition if the new state is actually different from the current one */
if (new_flighttermination_state == status->flighttermination_state) {
ret = TRANSITION_NOT_CHANGED;
} else {
} else {
switch (new_flighttermination_state) {
case FLIGHTTERMINATION_STATE_ON:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_ON;
warnx("state machine helper: change to FLIGHTTERMINATION_STATE_ON");
break;
case FLIGHTTERMINATION_STATE_OFF:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_OFF;
break;
switch (new_flighttermination_state) {
case FLIGHTTERMINATION_STATE_ON:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_ON;
warnx("state machine helper: change to FLIGHTTERMINATION_STATE_ON");
break;
default:
break;
}
case FLIGHTTERMINATION_STATE_OFF:
ret = TRANSITION_CHANGED;
status->flighttermination_state = FLIGHTTERMINATION_STATE_OFF;
break;
if (ret == TRANSITION_CHANGED) {
flighttermination_state_changed = true;
// TODO
//control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON;
}
default:
break;
}
return ret;
if (ret == TRANSITION_CHANGED) {
flighttermination_state_changed = true;
// TODO
//control_mode->flag_control_flighttermination_enabled = status->flighttermination_state == FLIGHTTERMINATION_STATE_ON;
}
}
return ret;
}