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Astyle: Fix format for commander.cpp

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This commit is contained in:
Johan Jansen
2015-01-16 16:46:16 +01:00
parent a581ae8ed6
commit 9ecadcd9b4
1 changed files with 29 additions and 21 deletions
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src/modules/commander/commander.cpp
+27 -19
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@@ -244,7 +244,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armed
* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each * @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
* time the vehicle is armed with a good GPS fix. * time the vehicle is armed with a good GPS fix.
**/ **/
static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition); static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition);
/** /**
* Loop that runs at a lower rate and priority for calibration and parameter tasks. * Loop that runs at a lower rate and priority for calibration and parameter tasks.
@@ -566,7 +567,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
} }
break; break;
/* Flight termination */ /* Flight termination */
case VEHICLE_CMD_DO_FLIGHTTERMINATION: { case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) { if (cmd->param1 > 0.5f) {
//XXX update state machine? //XXX update state machine?
@@ -726,15 +727,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each * @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
* time the vehicle is armed with a good GPS fix. * time the vehicle is armed with a good GPS fix.
**/ **/
static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition) static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home,
const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition)
{ {
//Need global position fix to be able to set home //Need global position fix to be able to set home
if(!status.condition_global_position_valid) { if (!status.condition_global_position_valid) {
return; return;
} }
//Ensure that the GPS accuracy is good enough for intializing home //Ensure that the GPS accuracy is good enough for intializing home
if(globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) { if (globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) {
return; return;
} }
@@ -760,7 +762,7 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
} }
//Play tune first time we initialize HOME //Play tune first time we initialize HOME
if(!status.condition_home_position_valid) { if (!status.condition_home_position_valid) {
tune_positive(true); tune_positive(true);
} }
@@ -1147,8 +1149,8 @@ int commander_thread_main(int argc, char *argv[])
} }
/* set vehicle_status.is_vtol flag */ /* set vehicle_status.is_vtol flag */
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) || status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
/* check and update system / component ID */ /* check and update system / component ID */
param_get(_param_system_id, &(status.system_id)); param_get(_param_system_id, &(status.system_id));
@@ -1310,12 +1312,12 @@ int commander_thread_main(int argc, char *argv[])
} }
//Notify the user if the status of the safety switch changes //Notify the user if the status of the safety switch changes
if(safety.safety_switch_available && previous_safety_off != safety.safety_off) { if (safety.safety_switch_available && previous_safety_off != safety.safety_off) {
if(safety.safety_off) { if (safety.safety_off) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE); set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
else { } else {
tune_neutral(true); tune_neutral(true);
} }
@@ -1330,6 +1332,7 @@ int commander_thread_main(int argc, char *argv[])
/* vtol status changed */ /* vtol status changed */
orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle realy is of type vtol*/ /* Make sure that this is only adjusted if vehicle realy is of type vtol*/
if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) { if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
status.is_rotary_wing = vtol_status.vtol_in_rw_mode; status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
@@ -1632,7 +1635,8 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
if (status.rc_signal_lost) { if (status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000); mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",
(hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000);
status_changed = true; status_changed = true;
} }
} }
@@ -1733,9 +1737,9 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
if (!status.rc_signal_lost) { if (!status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000); mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)", hrt_absolute_time() / 1000);
status.rc_signal_lost = true; status.rc_signal_lost = true;
status.rc_signal_lost_timestamp=sp_man.timestamp; status.rc_signal_lost_timestamp = sp_man.timestamp;
status_changed = true; status_changed = true;
} }
} }
@@ -1886,12 +1890,12 @@ int commander_thread_main(int argc, char *argv[])
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
//First time home position update //First time home position update
if(!status.condition_home_position_valid) { if (!status.condition_home_position_valid) {
commander_set_home_position(home_pub, home, local_position, global_position); commander_set_home_position(home_pub, home, local_position, global_position);
} }
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
else if(arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) { else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) {
commander_set_home_position(home_pub, home, local_position, global_position); commander_set_home_position(home_pub, home, local_position, global_position);
} }
@@ -1919,11 +1923,14 @@ int commander_thread_main(int argc, char *argv[])
if (status.failsafe != failsafe_old) { if (status.failsafe != failsafe_old) {
status_changed = true; status_changed = true;
if (status.failsafe) { if (status.failsafe) {
mavlink_log_critical(mavlink_fd, "failsafe mode on"); mavlink_log_critical(mavlink_fd, "failsafe mode on");
} else { } else {
mavlink_log_critical(mavlink_fd, "failsafe mode off"); mavlink_log_critical(mavlink_fd, "failsafe mode off");
} }
failsafe_old = status.failsafe; failsafe_old = status.failsafe;
} }
@@ -1969,7 +1976,7 @@ int commander_thread_main(int argc, char *argv[])
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) { if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
//Notify the user that it is safe to approach the vehicle //Notify the user that it is safe to approach the vehicle
if(arm_tune_played) { if (arm_tune_played) {
tune_neutral(true); tune_neutral(true);
} }
@@ -2436,6 +2443,7 @@ set_control_mode()
control_mode.flag_control_position_enabled = false; control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false; control_mode.flag_control_velocity_enabled = false;
} }
break; break;
default: default:
@@ -2474,7 +2482,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
{ {
switch (result) { switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED: case VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true); tune_positive(true);
break; break;
case VEHICLE_CMD_RESULT_DENIED: case VEHICLE_CMD_RESULT_DENIED: