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Fix code style

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(Ran AStyle)
This commit is contained in:
Emmanuel Roussel 2016-02-08 10:38:19 +01:00 committed by Roman
parent 59c9f6b4fb
commit e6b3cf3ac9
5 changed files with 21 additions and 10 deletions
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6
src/modules/land_detector/FixedwingLandDetector.cpp
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@ -94,9 +94,11 @@ LandDetectionResult FixedwingLandDetector::update()
if (get_freefall_state()) {
_state = LANDDETECTION_RES_FREEFALL;
}else if(get_landed_state()){
} else if (get_landed_state()) {
_state = LANDDETECTION_RES_LANDED;
}else{
} else {
_state = LANDDETECTION_RES_FLYING;
}

4
src/modules/land_detector/LandDetector.cpp
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@ -103,8 +103,8 @@ void LandDetector::cycle()
}
LandDetectionResult current_state = update();
bool landDetected = (current_state==LANDDETECTION_RES_LANDED);
bool freefallDetected = (current_state==LANDDETECTION_RES_FREEFALL);
bool landDetected = (current_state == LANDDETECTION_RES_LANDED);
bool freefallDetected = (current_state == LANDDETECTION_RES_FREEFALL);
// publish if land detection state has changed
if ((_landDetected.landed != landDetected) || (_landDetected.freefall != freefallDetected)) {

6
src/modules/land_detector/LandDetector.h
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@ -108,13 +108,15 @@ protected:
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold
before triggering a land */
static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME = 2000000; /**< time interval in which wider acceptance thresholds are used after arming */
static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME =
2000000; /**< time interval in which wider acceptance thresholds are used after arming */
protected:
orb_advert_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
uint64_t _arming_time; /**< timestamp of arming time */
LandDetectionResult _state; /**< Result of land detection. Can be LANDDETECTION_RES_FLYING, LANDDETECTION_RES_LANDED or LANDDETECTION_RES_FREEFALL */
LandDetectionResult
_state; /**< Result of land detection. Can be LANDDETECTION_RES_FLYING, LANDDETECTION_RES_LANDED or LANDDETECTION_RES_FREEFALL */
private:
bool _taskShouldExit; /**< true if it is requested that this task should exit */

12
src/modules/land_detector/MulticopterLandDetector.cpp
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@ -107,8 +107,10 @@ LandDetectionResult MulticopterLandDetector::update()
if (get_freefall_state()) {
_state = LANDDETECTION_RES_FREEFALL;
} else if (get_landed_state()) {
_state = LANDDETECTION_RES_LANDED;
} else {
_state = LANDDETECTION_RES_FLYING;
}
@ -118,19 +120,23 @@ LandDetectionResult MulticopterLandDetector::update()
bool MulticopterLandDetector::get_freefall_state()
{
if(_params.acc_threshold_m_s2 < 0.1f || _params.acc_threshold_m_s2 > 10.0f){ //if parameter is set to zero or invalid, disable free-fall detection.
if (_params.acc_threshold_m_s2 < 0.1f
|| _params.acc_threshold_m_s2 > 10.0f) { //if parameter is set to zero or invalid, disable free-fall detection.
return false;
}
const uint64_t now = hrt_absolute_time();
float acc_norm = 0.0;
for (int i = 0; i < 3; i++) {
acc_norm += _sensors.accelerometer_m_s2[i] * _sensors.accelerometer_m_s2[i];
}
acc_norm = sqrtf(acc_norm); //norm of specific force. Should be close to 9.8 m/s^2 when landed.
bool freefall = (acc_norm < _params.acc_threshold_m_s2); //true if we are currently falling
if (!freefall || _freefallTimer == 0) { //reset timer if uav not falling
_freefallTimer = now;
return false;
@ -191,8 +197,8 @@ bool MulticopterLandDetector::get_landed_state()
float maxRotationScaled = _params.maxRotation_rad_s * armThresholdFactor;
bool rotating = (fabsf(_vehicleAttitude.rollspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
(fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
if (verticalMovement || rotating || !minimalThrust || horizontalMovement) {

3
src/modules/land_detector/land_detector_params.c
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@ -105,7 +105,8 @@ PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
*
* @group Land Detector
*/
PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG, 300); //minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG,
300); //minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
/**
* Fixedwing max horizontal velocity