From 86e470b1c28cff810c890348295290eb188cd55d Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Thu, 5 May 2016 12:55:09 -0700 Subject: [PATCH] Fixed syle issues Signed-off-by: Mark Charlebois --- .../qurt/fc_addon/mpu_spi/mpu9x50_main.cpp | 9 ++-- .../fc_addon/rc_receiver/rc_receiver_main.cpp | 2 +- .../qurt/fc_addon/uart_esc/uart_esc_main.cpp | 45 ++++++++++--------- 3 files changed, 32 insertions(+), 24 deletions(-) diff --git a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp index 8e705eb25d..d0221b7d83 100644 --- a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp +++ b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp @@ -372,21 +372,24 @@ bool create_pubs() memset(&_mag, 0, sizeof(struct mag_report)); _gyro_pub = orb_advertise_multi(ORB_ID(sensor_gyro), &_gyro, - &_gyro_orb_class_instance, ORB_PRIO_HIGH - 1); + &_gyro_orb_class_instance, ORB_PRIO_HIGH - 1); + if (_gyro_pub == nullptr) { PX4_ERR("sensor_gyro advert fail"); return false; } _accel_pub = orb_advertise_multi(ORB_ID(sensor_accel), &_accel, - &_accel_orb_class_instance, ORB_PRIO_HIGH - 1); + &_accel_orb_class_instance, ORB_PRIO_HIGH - 1); + if (_accel_pub == nullptr) { PX4_ERR("sensor_accel advert fail"); return false; } _mag_pub = orb_advertise_multi(ORB_ID(sensor_mag), &_mag, - &_mag_orb_class_instance, ORB_PRIO_HIGH - 1); + &_mag_orb_class_instance, ORB_PRIO_HIGH - 1); + if (_mag_pub == nullptr) { PX4_ERR("sensor_mag advert fail"); return false; diff --git a/src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp b/src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp index 7ae0a4a8f6..8f3e194ec9 100644 --- a/src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp +++ b/src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp @@ -266,7 +266,7 @@ void task_main(int argc, char *argv[]) // See modules/px4iofirmware/dsm.c for details // NOTE: rc_receiver spektrum driver outputs the data in 10bit DSM // format, so we need to double the channel value before the scaling - _rc_in.values[i] = ((((int)(rc_inputs[i]*2) - 1024) * 1000) / 1700) + 1500; + _rc_in.values[i] = ((((int)(rc_inputs[i] * 2) - 1024) * 1000) / 1700) + 1500; } orb_publish(ORB_ID(input_rc), _input_rc_pub, &_rc_in); diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp index 33548c6659..606e8535b8 100644 --- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp +++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp @@ -97,7 +97,7 @@ actuator_outputs_s _outputs; static void usage(); /** uart_esc start */ -static void start(const char *device) __attribute__ ((unused)); +static void start(const char *device) __attribute__((unused)); /** uart_esc stop */ static void stop(); @@ -118,8 +118,8 @@ static void parameters_update(); struct { int model; - int baudrate; - int px4_motor_mapping[UART_ESC_MAX_MOTORS]; + int baudrate; + int px4_motor_mapping[UART_ESC_MAX_MOTORS]; } _parameters; struct { @@ -163,7 +163,7 @@ void parameters_update() for (unsigned int i = 0; i < UART_ESC_MAX_MOTORS; i++) { if (param_get(_parameter_handles.px4_motor_mapping[i], &v_int) == 0) { _parameters.px4_motor_mapping[i] = v_int; - PX4_WARN("UART_ESC_PX4MOTOR%d %d", i+1, _parameters.px4_motor_mapping[i]); + PX4_WARN("UART_ESC_PX4MOTOR%d %d", i + 1, _parameters.px4_motor_mapping[i]); } } } @@ -194,34 +194,38 @@ int mixer_control_callback(uintptr_t handle, int initialize_mixer(const char *mixer_filename) { - mixer = nullptr; + mixer = nullptr; - int mixer_initialized = -1; + int mixer_initialized = -1; char buf[2048]; - unsigned int buflen = sizeof(buf); + unsigned int buflen = sizeof(buf); - PX4_INFO("Initializing mixer from config file in %s", mixer_filename); + PX4_INFO("Initializing mixer from config file in %s", mixer_filename); - int fd_load = open(mixer_filename, O_RDONLY); + int fd_load = open(mixer_filename, O_RDONLY); if (fd_load != -1) { int nRead = read(fd_load, buf, buflen); close(fd_load); if (nRead > 0) { - mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen); + mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen); + if (mixer != nullptr) { PX4_INFO("Successfully initialized mixer from config file"); mixer_initialized = 0; + } else { - PX4_WARN("Unable to parse from mixer config file"); + PX4_WARN("Unable to parse from mixer config file"); } + } else { - PX4_WARN("Unable to read from mixer config file"); + PX4_WARN("Unable to read from mixer config file"); } + } else { - PX4_WARN("Unable to open mixer config file"); + PX4_WARN("Unable to open mixer config file"); } // mixer file loading failed, fall back to default mixer configuration for @@ -233,8 +237,8 @@ int initialize_mixer(const char *mixer_filename) float deadband = 0; mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls, - MultirotorGeometry::QUAD_X, - roll_scale, pitch_scale, yaw_scale, deadband); + MultirotorGeometry::QUAD_X, + roll_scale, pitch_scale, yaw_scale, deadband); if (mixer == nullptr) { PX4_ERR("mixer initialization failed"); @@ -282,7 +286,7 @@ void task_main(int argc, char *argv[]) PX4_ERR("failed to new UartEsc instance"); } else if (esc->initialize((enum esc_model_t)_parameters.model, - _device, _parameters.baudrate) < 0) { + _device, _parameters.baudrate) < 0) { PX4_ERR("failed to initialize UartEsc"); } else { @@ -334,13 +338,13 @@ void task_main(int argc, char *argv[]) if (_armed.armed) { _outputs.noutputs = mixer->mix(&_outputs.output[0], - actuator_controls_0_s::NUM_ACTUATOR_CONTROLS, - NULL); + actuator_controls_0_s::NUM_ACTUATOR_CONTROLS, + NULL); // Make sure we support only up to UART_ESC_MAX_MOTORS motors if (_outputs.noutputs > UART_ESC_MAX_MOTORS) { PX4_ERR("Unsupported motors %d, up to %d motors supported", - _outputs.noutputs, UART_ESC_MAX_MOTORS); + _outputs.noutputs, UART_ESC_MAX_MOTORS); continue; } @@ -348,13 +352,14 @@ void task_main(int argc, char *argv[]) for (unsigned outIdx = 0; outIdx < _outputs.noutputs; outIdx++) { // map -1.0 - 1.0 outputs to RPMs motor_rpms[outIdx] = (int16_t)(((_outputs.output[outIdx] + 1.0) / 2.0) * - (esc->max_rpm() - esc->min_rpm()) + esc->min_rpm()); + (esc->max_rpm() - esc->min_rpm()) + esc->min_rpm()); } uart_esc_rotate_motors(motor_rpms, _outputs.noutputs); } else { _outputs.noutputs = UART_ESC_MAX_MOTORS; + for (unsigned outIdx = 0; outIdx < _outputs.noutputs; outIdx++) { motor_rpms[outIdx] = 0; _outputs.output[outIdx] = -1.0;