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code style, warnings

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This commit is contained in:
Holger Steinhaus
2014-11-12 10:10:37 +01:00
parent 0800fa4715
commit 7bc9a62577
3 changed files with 19 additions and 22 deletions
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src/modules/uavcan/actuators/esc.cpp
+7 -6
View File
@@ -113,8 +113,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
msg.cmd.push_back(static_cast<int>(scaled));
_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
}
else {
} else {
msg.cmd.push_back(static_cast<unsigned>(0));
}
}
@@ -128,18 +127,20 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
void UavcanEscController::arm_all_escs(bool arm)
{
if (arm)
if (arm) {
_armed_mask = -1;
else
} else {
_armed_mask = 0;
}
}
void UavcanEscController::arm_single_esc(int num, bool arm)
{
if (arm)
if (arm) {
_armed_mask = MOTOR_BIT(num);
else
} else {
_armed_mask = 0;
}
}
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
src/modules/uavcan/uavcan_main.cpp
+4 -5
View File
@@ -346,13 +346,12 @@ int UavcanNode::run()
// can we mix?
if (_test_in_progress) {
float outputs[NUM_ACTUATOR_OUTPUTS] = {};
outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
float test_outputs[NUM_ACTUATOR_OUTPUTS] = {};
test_outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
// Output to the bus
_esc_controller.update_outputs(outputs, NUM_ACTUATOR_OUTPUTS);
}
else if (controls_updated && (_mixers != nullptr)) {
_esc_controller.update_outputs(test_outputs, NUM_ACTUATOR_OUTPUTS);
} else if (controls_updated && (_mixers != nullptr)) {
// XXX one output group has 8 outputs max,
// but this driver could well serve multiple groups.