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Code style fixes

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This commit is contained in:
Lorenz Meier
2016-03-27 12:10:57 +02:00
parent 9dd6327668
commit 88b2349241
3 changed files with 33 additions and 32 deletions
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src/modules/navigator/loiter.cpp
+1 -1
View File
@@ -79,7 +79,7 @@ Loiter::on_activation()
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->current.velocity_valid = false;
pos_sp_triplet->current.velocity_valid = false;
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
src/modules/navigator/mission_block.cpp
+24 -23
View File
@@ -228,6 +228,7 @@ MissionBlock::is_mission_item_reached()
/* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */
if (_waypoint_position_reached && _waypoint_yaw_reached) {
if (_time_first_inside_orbit == 0) {
_time_first_inside_orbit = now;
@@ -436,36 +437,36 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
void
MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw)
{
if (_navigator->get_vstatus()->condition_landed) {
/* landed, don't takeoff, but switch to IDLE mode */
item->nav_cmd = NAV_CMD_IDLE;
if (_navigator->get_vstatus()->condition_landed) {
/* landed, don't takeoff, but switch to IDLE mode */
item->nav_cmd = NAV_CMD_IDLE;
} else {
item->nav_cmd = NAV_CMD_FOLLOW_TARGET;
} else {
/* use current target position */
item->nav_cmd = NAV_CMD_FOLLOW_TARGET;
item->lat = target.lat;
item->lon = target.lon;
item->altitude = target.alt + _navigator->get_home_position()->alt;
/* use current target position */
if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
item->altitude = _navigator->get_home_position()->alt + min_clearance;
}
}
item->lat = target.lat;
item->lon = target.lon;
item->altitude = target.alt + _navigator->get_home_position()->alt;
item->altitude_is_relative = false;
item->yaw = yaw;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
item->altitude = _navigator->get_home_position()->alt + min_clearance;
}
}
item->altitude_is_relative = false;
item->yaw = yaw;
item->loiter_radius = _navigator->get_loiter_radius();
item->loiter_direction = 1;
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->pitch_min = 0.0f;
item->autocontinue = false;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
{
src/modules/navigator/mission_block.h
+8 -8
View File
@@ -117,15 +117,15 @@ protected:
*/
void set_idle_item(struct mission_item_s *item);
/**
* Convert a mission item to a command
*/
void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
/**
* Convert a mission item to a command
*/
void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
/**
* set follow_target item
*/
void set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw);
/**
* Set follow_target item
*/
void set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw);
void issue_command(const struct mission_item_s *item);