From 9dd6327668ecefc01d939bee2014775224886aea Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 23 Mar 2016 20:32:07 +0100 Subject: [PATCH] Fixed MAVLink app code style --- src/modules/mavlink/mavlink_receiver.cpp | 27 +++++++++++------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 28c973be13..b1e2a60fe6 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1628,25 +1628,22 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg) { - mavlink_follow_target_t follow_target_msg; - follow_target_s follow_target_topic = { }; + mavlink_follow_target_t follow_target_msg; + follow_target_s follow_target_topic = { }; - mavlink_msg_follow_target_decode(msg, &follow_target_msg); + mavlink_msg_follow_target_decode(msg, &follow_target_msg); - follow_target_topic.timestamp = hrt_absolute_time(); + follow_target_topic.timestamp = hrt_absolute_time(); - // memcpy(follow_target_topic.accel, follow_target_msg.acc, sizeof(follow_target_topic.accel)); - //memcpy(follow_target_topic.velocity, follow_target_msg.vel, sizeof(follow_target_topic.velocity)); + follow_target_topic.lat = follow_target_msg.lat*1e-7; + follow_target_topic.lon = follow_target_msg.lon*1e-7; + follow_target_topic.alt = follow_target_msg.alt; - follow_target_topic.lat = follow_target_msg.lat*1e-7; - follow_target_topic.lon = follow_target_msg.lon*1e-7; - follow_target_topic.alt = follow_target_msg.alt; - - if (_follow_target_pub == nullptr) { - _follow_target_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic); - } else { - orb_publish(ORB_ID(follow_target), _follow_target_pub, &follow_target_topic); - } + if (_follow_target_pub == nullptr) { + _follow_target_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic); + } else { + orb_publish(ORB_ID(follow_target), _follow_target_pub, &follow_target_topic); + } } void