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navigator: spaces/tabs fixed, old commented code removed

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This commit is contained in:
Anton Babushkin
2014-06-26 23:39:17 +02:00
parent 6e5aafb3a7
commit 8e8798a522
2 changed files with 33 additions and 355 deletions
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src/modules/navigator/rtl.cpp
+33 -33
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@@ -79,7 +79,7 @@ RTL::on_inactive()
/* reset RTL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rtl_state = RTL_STATE_NONE;
_rtl_state = RTL_STATE_NONE;
}
}
@@ -89,28 +89,28 @@ RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
bool updated = false;
if (_first_run) {
_first_run = false;
_first_run = false;
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_FINISHED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
set_rtl_item(pos_sp_triplet);
@@ -132,15 +132,15 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
/* make sure we have the latest params */
updateParams();
if (_rtl_state == RTL_STATE_FINISHED) {
/* RTL finished, nothing to do */
pos_sp_triplet->next.valid = false;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed");
return;
}
if (_rtl_state == RTL_STATE_FINISHED) {
/* RTL finished, nothing to do */
pos_sp_triplet->next.valid = false;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed");
return;
}
set_previous_pos_setpoint(pos_sp_triplet);
_navigator->set_can_loiter_at_sp(false);
set_previous_pos_setpoint(pos_sp_triplet);
_navigator->set_can_loiter_at_sp(false);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -241,11 +241,11 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
break;
}
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
}
void