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code-style fixes

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This commit is contained in:
Andreas Antener 2015-08-18 11:02:52 +02:00 committed by Simon Wilks
parent 1b894c3af9
commit 9aca1701f4
2 changed files with 35 additions and 28 deletions
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18
src/modules/mavlink/mavlink_messages.cpp
View File

@ -2374,7 +2374,7 @@ private:
/* do not allow top copying this class */
MavlinkStreamVtolState(MavlinkStreamVtolState &);
MavlinkStreamVtolState& operator = (const MavlinkStreamVtolState &);
MavlinkStreamVtolState &operator = (const MavlinkStreamVtolState &);
protected:
explicit MavlinkStreamVtolState(Mavlink *mavlink) : MavlinkStream(mavlink),
@ -2388,25 +2388,25 @@ protected:
if (_status_sub->update(&status)) {
mavlink_vtol_state_t msg;
if (status.is_vtol)
{
if (status.is_rotary_wing)
{
if (status.is_vtol) {
if (status.is_rotary_wing) {
if (status.in_transition_mode) {
msg.state = MAV_VTOL_STATE_TRANSITION_TO_FW;
} else {
msg.state = MAV_VTOL_STATE_MC;
}
}
else {
} else {
if (status.in_transition_mode) {
msg.state = MAV_VTOL_STATE_TRANSITION_TO_MC;
} else {
msg.state = MAV_VTOL_STATE_FW;
}
}
}
else {
} else {
msg.state = MAV_VTOL_STATE_UNDEFINED;
}

45
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -318,7 +318,8 @@ VtolAttitudeControl::vehicle_local_pos_poll()
* Check for command updates.
*/
void
VtolAttitudeControl::vehicle_cmd_poll() {
VtolAttitudeControl::vehicle_cmd_poll()
{
bool updated;
orb_check(_vehicle_cmd_sub, &updated);
@ -332,7 +333,8 @@ VtolAttitudeControl::vehicle_cmd_poll() {
* Check received command
*/
void
VtolAttitudeControl::handle_command() {
VtolAttitudeControl::handle_command()
{
// update transition command if necessary
if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
_transition_command = int(_vehicle_cmd.param1 + 0.5f);
@ -347,10 +349,12 @@ bool
VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = _manual_control_sp.aux1 > 0.0f;
if (_v_control_mode.flag_control_offboard_enabled) {
to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
return to_fw;
if (_v_control_mode.flag_control_offboard_enabled) {
to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
return to_fw;
}
/**
@ -531,12 +535,11 @@ void VtolAttitudeControl::task_main()
_vtol_type->update_vtol_state();
// reset transition command if not in offboard control
if (!_v_control_mode.flag_control_offboard_enabled)
{
if (!_v_control_mode.flag_control_offboard_enabled) {
if (_vtol_type->get_mode() == ROTARY_WING) {
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
else if (_vtol_type->get_mode() == FIXED_WING) {
} else if (_vtol_type->get_mode() == FIXED_WING) {
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
}
@ -555,6 +558,7 @@ void VtolAttitudeControl::task_main()
fill_mc_att_rates_sp();
}
} else if (_vtol_type->get_mode() == FIXED_WING) {
// vehicle is in fw mode
_vtol_vehicle_status.vtol_in_rw_mode = false;
@ -569,11 +573,13 @@ void VtolAttitudeControl::task_main()
fill_fw_att_rates_sp();
}
} else if (_vtol_type->get_mode() == TRANSITION) {
// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
bool got_new_data = false;
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
got_new_data = true;
@ -598,29 +604,30 @@ void VtolAttitudeControl::task_main()
_vtol_type->fill_actuator_outputs();
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled)
{
if (_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled) {
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
}
}
// publish the attitude rates setpoint
if(_v_rates_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);
}
else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint),&_v_rates_sp);
if (_v_rates_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
}