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navigator begin fixing code style

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This commit is contained in:
Daniel Agar
2016-11-06 15:10:28 -05:00
committed by Lorenz Meier
parent 9e589cef48
commit 6f10f8de9a
10 changed files with 382 additions and 320 deletions
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src/modules/navigator/enginefailure.cpp
+22 -20
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@@ -31,11 +31,11 @@
*
****************************************************************************/
/* @file enginefailure.cpp
* Helper class for a fixedwing engine failure mode
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/* @file enginefailure.cpp
* Helper class for a fixedwing engine failure mode
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <stdlib.h>
#include <math.h>
@@ -104,23 +104,24 @@ EngineFailure::set_ef_item()
switch (_ef_state) {
case EF_STATE_LOITERDOWN: {
//XXX create mission item at ground (below?) here
//XXX create mission item at ground (below?) here
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
//XXX setting altitude to a very low value, evaluate other options
_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
//XXX setting altitude to a very low value, evaluate other options
_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_navigator->set_can_loiter_at_sp(true);
break;
}
_navigator->set_can_loiter_at_sp(true);
break;
}
default:
break;
}
@@ -142,6 +143,7 @@ EngineFailure::advance_ef()
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "Engine failure. Loitering down");
_ef_state = EF_STATE_LOITERDOWN;
break;
default:
break;
}