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navigator begin fixing code style

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This commit is contained in:
Daniel Agar
2016-11-19 15:16:00 +01:00
committed by Lorenz Meier
parent 9e589cef48
commit 6f10f8de9a
10 changed files with 382 additions and 320 deletions
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src/modules/navigator/gpsfailure.cpp
+28 -21
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@@ -100,29 +100,32 @@ GpsFailure::on_active()
switch (_gpsf_state) {
case GPSF_STATE_LOITER: {
/* Position controller does not run in this mode:
* navigator has to publish an attitude setpoint */
_navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get();
_navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get();
_navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get();
_navigator->publish_att_sp();
/* Position controller does not run in this mode:
* navigator has to publish an attitude setpoint */
_navigator->get_att_sp()->roll_body = M_DEG_TO_RAD_F * _param_openlooploiter_roll.get();
_navigator->get_att_sp()->pitch_body = M_DEG_TO_RAD_F * _param_openlooploiter_pitch.get();
_navigator->get_att_sp()->thrust = _param_openlooploiter_thrust.get();
_navigator->publish_att_sp();
/* Measure time */
hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation);
/* Measure time */
hrt_abstime elapsed = hrt_elapsed_time(&_timestamp_activation);
//warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f",
//_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get());
if (elapsed > _param_loitertime.get() * 1e6f) {
/* no recovery, adavance the state machine */
warnx("gps not recovered, switch to next state");
advance_gpsf();
//warnx("open loop loiter, posctl enabled %u, elapsed %.1fs, thrust %.2f",
//_navigator->get_control_mode()->flag_control_position_enabled, elapsed * 1e-6, (double)_param_openlooploiter_thrust.get());
if (elapsed > _param_loitertime.get() * 1e6f) {
/* no recovery, adavance the state machine */
warnx("gps not recovered, switch to next state");
advance_gpsf();
}
break;
}
break;
}
case GPSF_STATE_TERMINATE:
set_gpsf_item();
advance_gpsf();
break;
default:
break;
}
@@ -140,11 +143,12 @@ GpsFailure::set_gpsf_item()
switch (_gpsf_state) {
case GPSF_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("gps fail: request flight termination");
}
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("gps fail: request flight termination");
}
default:
break;
}
@@ -164,15 +168,18 @@ GpsFailure::advance_gpsf()
warnx("gpsf loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "GPS failed: open loop loiter");
break;
case GPSF_STATE_LOITER:
_gpsf_state = GPSF_STATE_TERMINATE;
warnx("gpsf terminate");
mavlink_log_emergency(_navigator->get_mavlink_log_pub(), "no gps recovery, termination");
warnx("mavlink sent");
break;
case GPSF_STATE_TERMINATE:
warnx("gpsf end");
_gpsf_state = GPSF_STATE_END;
default:
break;
}