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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/rcloss.cpp
+30 -23
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@@ -108,31 +108,33 @@ RCLoss::set_rcl_item()
switch (_rcl_state) {
case RCL_STATE_LOITER: {
_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude = _navigator->get_global_position()->alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
_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 = _navigator->get_global_position()->alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
_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;
}
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("rc not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
break;
}
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->set_mission_result_updated();
warnx("rc not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
pos_sp_triplet->next.valid = false;
break;
}
default:
break;
}
@@ -155,6 +157,7 @@ RCLoss::advance_rcl()
warnx("RC loss, OBC mode, loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "rc loss, loitering");
_rcl_state = RCL_STATE_LOITER;
} else {
warnx("RC loss, OBC mode, slip loiter, terminate");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "rc loss, terminating");
@@ -163,7 +166,9 @@ RCLoss::advance_rcl()
_navigator->set_mission_result_updated();
reset_mission_item_reached();
}
break;
case RCL_STATE_LOITER:
_rcl_state = RCL_STATE_TERMINATE;
warnx("time is up, no RC regain, terminating");
@@ -172,10 +177,12 @@ RCLoss::advance_rcl()
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE:
warnx("rcl end");
_rcl_state = RCL_STATE_END;
break;
default:
break;
}