From ac6abacac9d8c44d4f0407b75fc30424f38b22c3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 29 Jun 2015 16:28:33 +0200 Subject: [PATCH] VTOL controller: Fix usage of old uORB API, fix indentation --- .../vtol_att_control_main.cpp | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 1c76c25505..589a08d8cd 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -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);