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rc_loss_alarm: replaced hard with soft tabs

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Alessandro Simovic
2018-06-26 16:46:08 +02:00
committed by Beat Küng
parent 6fa80d2034
commit 701d87912e
1 changed files with 51 additions and 51 deletions
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src/modules/rc_loss_alarm/rc_loss_alarm.cpp
+51 -51
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@@ -1,20 +1,20 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
@@ -152,79 +152,79 @@ void RC_Loss_Alarm::cycle_trampoline(void *arg)
void RC_Loss_Alarm::cycle()
{
// Subscribe if necessary
if(_vehicle_status_sub == -1){
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
// Subscribe if necessary
if(_vehicle_status_sub == -1){
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
// Check armed status
bool updated = false;
// Check armed status
bool updated = false;
orb_check(_vehicle_status_sub, &updated);
if(updated){
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
orb_check(_vehicle_status_sub, &updated);
if(updated){
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
if (!_was_armed &&
_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED){
if (!_was_armed &&
_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED){
_was_armed = true; // Once true, impossible to go back to false
}
_was_armed = true; // Once true, impossible to go back to false
}
if (!_had_rc && !_vehicle_status.rc_signal_lost){
if (!_had_rc && !_vehicle_status.rc_signal_lost){
_had_rc = true;
}
_had_rc = true;
}
if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED){
if (_was_armed && _had_rc && _vehicle_status.rc_signal_lost &&
_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED){
pub_tune();
}
}
pub_tune();
}
}
// Schedule next cycle unless module is shutting down
// Schedule next cycle unless module is shutting down
if (!should_exit()) {
work_queue(LPWORK, &_work, (worker_t)&RC_Loss_Alarm::cycle_trampoline, this,
USEC2TICK(UPDATE_RATE));
USEC2TICK(UPDATE_RATE));
}
}
void RC_Loss_Alarm::pub_tune()
{
struct tune_control_s tune_control = {};
struct tune_control_s tune_control = {};
tune_control.tune_id = static_cast<int>(TuneID::ERROR_TUNE);
tune_control.strength = tune_control_s::STRENGTH_MAX;
tune_control.tune_override = 1;
tune_control.timestamp = hrt_absolute_time();
if (_tune_control_pub == nullptr) {
_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}else{
orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
}
if (_tune_control_pub == nullptr) {
_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}else{
orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
}
}
void RC_Loss_Alarm::stop_tune()
{
struct tune_control_s tune_control = {};
tune_control.tune_id = static_cast<int>(TuneID::CUSTOM);
tune_control.frequency = 0;
tune_control.duration = 0;
tune_control.silence = 0;
tune_control.tune_override = true;
struct tune_control_s tune_control = {};
tune_control.tune_id = static_cast<int>(TuneID::CUSTOM);
tune_control.frequency = 0;
tune_control.duration = 0;
tune_control.silence = 0;
tune_control.tune_override = true;
if (_tune_control_pub == nullptr) {
_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}else{
orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
}
if (_tune_control_pub == nullptr) {
_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
}else{
orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
}
}
int RC_Loss_Alarm::reset_module(){
RC_Loss_Alarm::_was_armed = false;
RC_Loss_Alarm::_had_rc = false;
RC_Loss_Alarm::stop_tune();
return PX4_OK;
RC_Loss_Alarm::_was_armed = false;
RC_Loss_Alarm::_had_rc = false;
RC_Loss_Alarm::stop_tune();
return PX4_OK;
}
// module 'main' command