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segway: Fix code style

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Lorenz Meier
2015-09-05 22:17:58 +02:00
parent d18d43b0da
commit ec5a0d5e80
3 changed files with 17 additions and 13 deletions
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src/modules/segway/BlockSegwayController.cpp
+7 -5
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@@ -1,8 +1,9 @@
#include "BlockSegwayController.hpp"
void BlockSegwayController::update() {
void BlockSegwayController::update()
{
// wait for a sensor update, check for exit condition every 100 ms
if (poll(&_attPoll, 1, 100) < 0) return; // poll error
if (poll(&_attPoll, 1, 100) < 0) { return; } // poll error
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
@@ -10,20 +11,21 @@ void BlockSegwayController::update() {
// check for sane values of dt
// to prevent large control responses
if (dt > 1.0f || dt < 0) return;
if (dt > 1.0f || dt < 0) { return; }
// set dt for all child blocks
setDt(dt);
// check for new updates
if (_param_update.updated()) updateParams();
if (_param_update.updated()) { updateParams(); }
// get new information from subscriptions
updateSubscriptions();
// default all output to zero unless handled by mode
for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++) {
_actuators.control[i] = 0.0f;
}
// only update guidance in auto mode
if (_status.main_state == MAIN_STATE_AUTO) {