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mavlink fix code style

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This commit is contained in:
Daniel Agar
2017-01-07 01:03:18 -05:00
parent c280358e32
commit c9956e25b4
9 changed files with 80 additions and 27 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12 -4
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@@ -387,7 +387,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
ret = set_message_interval((int)(cmd_mavlink.param1 + 0.5f),
cmd_mavlink.param2, cmd_mavlink.param3);
cmd_mavlink.param2, cmd_mavlink.param3);
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1);
@@ -456,14 +456,17 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
if (send_ack) {
vehicle_command_ack_s command_ack;
command_ack.command = cmd_mavlink.command;
if (ret == PX4_OK) {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
} else {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
@@ -556,14 +559,17 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
if (send_ack) {
vehicle_command_ack_s command_ack;
command_ack.command = cmd_mavlink.command;
if (ret == PX4_OK) {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
} else {
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
@@ -903,6 +909,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.current.velocity_frame =
set_position_target_local_ned.coordinate_frame;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
@@ -2241,7 +2248,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
ctrl_state.z_acc = hil_state.zacc;
static float _acc_hor_filt = 0;
_acc_hor_filt = 0.95f * _acc_hor_filt + 0.05f * sqrtf(ctrl_state.x_acc * ctrl_state.x_acc + ctrl_state.y_acc * ctrl_state.y_acc);
_acc_hor_filt = 0.95f * _acc_hor_filt + 0.05f * sqrtf(ctrl_state.x_acc * ctrl_state.x_acc + ctrl_state.y_acc *
ctrl_state.y_acc);
ctrl_state.horz_acc_mag = _acc_hor_filt;
ctrl_state.airspeed_valid = false;