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commander: main_state_transition call trivial style fixes

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This commit is contained in:
Daniel Agar
2020-12-30 00:26:14 +01:00
committed by Lorenz Meier
parent 4f62355dec
commit 91f5f26618
1 changed files with 12 additions and 24 deletions
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src/modules/commander/Commander.cpp
+12 -24
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@@ -549,14 +549,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
switch (custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
if (_status_flags.condition_auto_mission_available) {
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
} else {
main_ret = TRANSITION_DENIED;
@@ -565,18 +563,15 @@ Commander::handle_command(const vehicle_command_s &cmd)
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, &_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags, &_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, &_internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
@@ -585,8 +580,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
break;
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags, &_internal_state);
break;
default:
@@ -596,8 +590,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
} else {
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
@@ -606,8 +599,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) {
/* RATTITUDE */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state);
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
/* STABILIZED */
@@ -617,16 +609,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
reset_posvel_validity();
/* OFFBOARD */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, &_internal_state);
}
} else {
/* use base mode */
if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
/* AUTO */
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
&_internal_state);
main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state);
} else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
@@ -888,8 +878,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF,
_status_flags,
if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags,
&_internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
@@ -940,8 +929,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) {
// switch to AUTO_MISSION and ARM
if ((TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION,
_status_flags,
if ((TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags,
&_internal_state))
&& (TRANSITION_DENIED != arm_disarm(true, true, arm_disarm_reason_t::MISSION_START))) {