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Fix code style

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Lorenz Meier
2015-08-18 23:20:03 +02:00
parent 456bdd070a
commit a01ca427b0
2 changed files with 18 additions and 19 deletions
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src/modules/navigator/mission_block.cpp
+6 -6
View File
@@ -78,13 +78,13 @@ bool
MissionBlock::is_mission_item_reached() MissionBlock::is_mission_item_reached()
{ {
if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) { if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_2), &actuators); actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
memset(&actuators, 0, sizeof(actuators)); memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value; actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
actuators.timestamp = hrt_absolute_time(); actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), actuator_pub_fd, &actuators); orb_publish(ORB_ID(actuator_controls_2), actuator_pub_fd, &actuators);
return true; return true;
} }
if (_mission_item.nav_cmd == NAV_CMD_IDLE) { if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
return false; return false;
src/modules/navigator/mission_feasibility_checker.cpp
+12 -13
View File
@@ -306,19 +306,18 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
/* Check non navigation item */ /* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){ if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
//check actuator number /* check actuator number */
if (mission_item.actuator_num<0 || mission_item.actuator_num>5) { if (mission_item.actuator_num < 0 || mission_item.actuator_num > 5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num); mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
warning_issued = true; warning_issued = true;
return false; return false;
} }
//check actuator value /* check actuator value */
if (mission_item.actuator_value<-2000 || mission_item.actuator_value>2000) { if (mission_item.actuator_value < -2000 || mission_item.actuator_value > 2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value); mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
warning_issued = true; warning_issued = true;
return false; return false;
} }
} }
/* check only items with valid lat/lon */ /* check only items with valid lat/lon */
else if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT || else if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||