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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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src/modules/land_detector/MulticopterLandDetector.cpp
+9 -3
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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) {