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VTOL controller: Fix usage of old uORB API, fix indentation

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This commit is contained in:
Lorenz Meier
2015-06-29 16:28:33 +02:00
parent 93580da922
commit ac6abacac9
1 changed files with 16 additions and 16 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+16 -16
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@@ -75,7 +75,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_actuators_0_pub(nullptr),
_actuators_1_pub(nullptr),
_vtol_vehicle_status_pub(nullptr),
_v_rates_sp_pub(nullptr),
_v_rates_sp_pub(nullptr)
{
memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
@@ -540,23 +540,23 @@ void VtolAttitudeControl::task_main()
/* 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 (_actuators_0_pub > 0) {
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 > 0) {
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);
}
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);