From c701085ed401d419f649a23f43884ae79e7c6a0f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 6 Nov 2016 14:35:08 -0500 Subject: [PATCH] geofence fix code style --- src/modules/navigator/geofence.cpp | 52 +++++++++++++++--------------- 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index dc0182a768..482081089f 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -131,40 +131,40 @@ bool Geofence::inside(const struct mission_item_s &mission_item) bool Geofence::inside(double lat, double lon, float altitude) { - float max_horizontal_distance = _param_max_hor_distance.get(); - float max_vertical_distance = _param_max_ver_distance.get(); + float max_horizontal_distance = _param_max_hor_distance.get(); + float max_vertical_distance = _param_max_ver_distance.get(); - if (max_horizontal_distance > 1 || max_vertical_distance > 1) { - if (_home_pos_set) { - float dist_xy = -1.0f; - float dist_z = -1.0f; - get_distance_to_point_global_wgs84(lat, lon, altitude, - _home_pos.lat, _home_pos.lon, _home_pos.alt, - &dist_xy, &dist_z); + if (max_horizontal_distance > 1 || max_vertical_distance > 1) { + if (_home_pos_set) { + float dist_xy = -1.0f; + float dist_z = -1.0f; + get_distance_to_point_global_wgs84(lat, lon, altitude, + _home_pos.lat, _home_pos.lon, _home_pos.alt, + &dist_xy, &dist_z); - if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) { - if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "Geofence exceeded max vertical distance by %.1f m", - (double)(dist_z - max_vertical_distance)); - _last_vertical_range_warning = hrt_absolute_time(); - } - - return false; + if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) { + if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), + "Geofence exceeded max vertical distance by %.1f m", + (double)(dist_z - max_vertical_distance)); + _last_vertical_range_warning = hrt_absolute_time(); } - if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) { - if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "Geofence exceeded max horizontal distance by %.1f m", - (double)(dist_xy - max_horizontal_distance)); - _last_horizontal_range_warning = hrt_absolute_time(); - } + return false; + } - return false; + if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) { + if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) { + mavlink_log_critical(_navigator->get_mavlink_log_pub(), + "Geofence exceeded max horizontal distance by %.1f m", + (double)(dist_xy - max_horizontal_distance)); + _last_horizontal_range_warning = hrt_absolute_time(); } + + return false; } } + } bool inside_fence = inside_polygon(lat, lon, altitude);