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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/loiter.cpp
+10 -7
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@@ -80,6 +80,7 @@ Loiter::on_activation()
{
if (_navigator->get_reposition_triplet()->current.valid) {
reposition();
} else {
set_loiter_position();
}
@@ -103,8 +104,9 @@ Loiter::set_loiter_position()
{
// not setting loiter position until armed
if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED ||
_loiter_pos_set) {
_loiter_pos_set) {
return;
} else {
_loiter_pos_set = true;
}
@@ -149,16 +151,17 @@ Loiter::reposition()
// set yaw
float travel_dist = get_distance_to_next_waypoint(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
float travel_dist = get_distance_to_next_waypoint(_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
if (travel_dist > 1.0f) {
// calculate direction the vehicle should point to.
pos_sp_triplet->current.yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
pos_sp_triplet->current.lat,
pos_sp_triplet->current.lon);
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
pos_sp_triplet->current.lat,
pos_sp_triplet->current.lon);
}
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);