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segway: Fix code style

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This commit is contained in:
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" #include "BlockSegwayController.hpp"
void BlockSegwayController::update() { void BlockSegwayController::update()
{
// wait for a sensor update, check for exit condition every 100 ms // 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(); uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f; float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
@@ -10,20 +11,21 @@ void BlockSegwayController::update() {
// check for sane values of dt // check for sane values of dt
// to prevent large control responses // 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 // set dt for all child blocks
setDt(dt); setDt(dt);
// check for new updates // check for new updates
if (_param_update.updated()) updateParams(); if (_param_update.updated()) { updateParams(); }
// get new information from subscriptions // get new information from subscriptions
updateSubscriptions(); updateSubscriptions();
// default all output to zero unless handled by mode // 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; _actuators.control[i] = 0.0f;
}
// only update guidance in auto mode // only update guidance in auto mode
if (_status.main_state == MAIN_STATE_AUTO) { if (_status.main_state == MAIN_STATE_AUTO) {
src/modules/segway/BlockSegwayController.hpp
+3 -2
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@@ -4,10 +4,11 @@
using namespace control; using namespace control;
class BlockSegwayController : public control::BlockUorbEnabledAutopilot { class BlockSegwayController : public control::BlockUorbEnabledAutopilot
{
public: public:
BlockSegwayController() : BlockSegwayController() :
BlockUorbEnabledAutopilot(NULL,"SEG"), BlockUorbEnabledAutopilot(NULL, "SEG"),
th2v(this, "TH2V"), th2v(this, "TH2V"),
q2v(this, "Q2V"), q2v(this, "Q2V"),
_attPoll(), _attPoll(),
src/modules/segway/segway_main.cpp
+7 -6
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@@ -74,8 +74,9 @@ static void usage(const char *reason);
static void static void
usage(const char *reason) usage(const char *reason)
{ {
if (reason) if (reason) {
fprintf(stderr, "%s\n", reason); fprintf(stderr, "%s\n", reason);
}
fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n"); fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
exit(1); exit(1);
@@ -107,11 +108,11 @@ int segway_main(int argc, char *argv[])
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("segway", deamon_task = px4_task_spawn_cmd("segway",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
5120, 5120,
segway_thread_main, segway_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL); (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
exit(0); exit(0);
} }