From 701d87912ec2d156e0d2f56c106041914598e995 Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Tue, 26 Jun 2018 16:46:08 +0200 Subject: [PATCH] rc_loss_alarm: replaced hard with soft tabs --- src/modules/rc_loss_alarm/rc_loss_alarm.cpp | 102 ++++++++++---------- 1 file changed, 51 insertions(+), 51 deletions(-) diff --git a/src/modules/rc_loss_alarm/rc_loss_alarm.cpp b/src/modules/rc_loss_alarm/rc_loss_alarm.cpp index b9a8f20775..af73e6488d 100644 --- a/src/modules/rc_loss_alarm/rc_loss_alarm.cpp +++ b/src/modules/rc_loss_alarm/rc_loss_alarm.cpp @@ -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(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(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(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