From aa36fa2dfd97c9ef0f8c84894f94f146b66048e2 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 8 Mar 2019 18:12:58 +0300 Subject: [PATCH] replace camel case by snake case. Co-Authored-By: EliaTarasov --- src/modules/ekf2/ekf2_main.cpp | 32 ++++++++++--------- .../land_detector/MulticopterLandDetector.cpp | 8 ++--- .../land_detector/MulticopterLandDetector.h | 2 +- 3 files changed, 22 insertions(+), 20 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index cbde55a712..20b2bfe68d 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -252,17 +252,17 @@ private: uint64_t _gps_alttitude_ellipsoid_previous_timestamp[GPS_MAX_RECEIVERS] {}; ///< storage for previous timestamp to compute dt float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84 - int _airdata_sub{-1}; - int _airspeed_sub{-1}; - int _ev_odom_sub{-1}; - int _landing_target_pose_sub{-1}; - int _magnetometer_sub{-1}; - int _optical_flow_sub{-1}; - int _params_sub{-1}; - int _sensor_selection_sub{-1}; - int _sensors_sub{-1}; - int _status_sub{-1}; - int _vehicle_land_detected_sub{-1}; + int _airdata_sub{ -1}; + int _airspeed_sub{ -1}; + int _ev_odom_sub{ -1}; + int _landing_target_pose_sub{ -1}; + int _magnetometer_sub{ -1}; + int _optical_flow_sub{ -1}; + int _params_sub{ -1}; + int _sensor_selection_sub{ -1}; + int _sensors_sub{ -1}; + int _status_sub{ -1}; + int _vehicle_land_detected_sub{ -1}; // because we can have several distance sensor instances with different orientations int _range_finder_subs[ORB_MULTI_MAX_INSTANCES] {}; @@ -270,7 +270,7 @@ private: // because we can have multiple GPS instances int _gps_subs[GPS_MAX_RECEIVERS] {}; - int _gps_orb_instance{-1}; + int _gps_orb_instance{ -1}; orb_advert_t _att_pub{nullptr}; orb_advert_t _wind_pub{nullptr}; @@ -1253,8 +1253,10 @@ void Ekf2::run() if (vehicle_land_detected_updated) { if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) { _ekf.set_in_air_status(!vehicle_land_detected.landed); - if(_gnd_effect_deadzone.get() > 0.0f) - _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect); + + if (_gnd_effect_deadzone.get() > 0.0f) { + _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect); + } } } @@ -1269,7 +1271,7 @@ void Ekf2::run() // we can only use the landing target if it has a fixed position and a valid velocity estimate if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) { // velocity of vehicle relative to target has opposite sign to target relative to vehicle - float velocity[2] = {-landing_target_pose.vx_rel, -landing_target_pose.vy_rel}; + float velocity[2] = { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel}; float variance[2] = {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel}; _ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance); } diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 31d3b5194e..c5636d14f1 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -179,8 +179,8 @@ bool MulticopterLandDetector::_get_ground_contact_state() } // Check if we are moving horizontally. - _horizontalMovement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx - + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity; + _horizontal_movement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx + + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity; // if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present, // we then can assume that the vehicle hit ground @@ -189,7 +189,7 @@ bool MulticopterLandDetector::_get_ground_contact_state() bool hit_ground = _in_descend && !verticalMovement; // TODO: we need an accelerometer based check for vertical movement for flying without GPS - if ((_has_low_thrust() || hit_ground) && (!_horizontalMovement || !_has_position_lock()) + if ((_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock()) && (!verticalMovement || !_has_altitude_lock())) { return true; } @@ -336,7 +336,7 @@ bool MulticopterLandDetector::_has_minimal_thrust() bool MulticopterLandDetector::_get_ground_effect_state() { - if (_in_descend && !_horizontalMovement) { + if (_in_descend && !_horizontal_movement) { return true; } else { diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index fb89d0b278..0b66e00748 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -142,7 +142,7 @@ private: hrt_abstime _landed_time{0}; bool _in_descend{false}; ///< vehicle is desending - bool _horizontalMovement{false}; ///< vehicle is moving horizontally + bool _horizontal_movement{false}; ///< vehicle is moving horizontally /* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */ float _get_takeoff_throttle();