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indenting changes to make should_arm condition more readable

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Diogo Machado
2014-02-26 11:29:31 +00:00
parent faa7d9577d
commit f4a6b07e29
1 changed files with 10 additions and 9 deletions
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src/modules/px4iofirmware/mixer.cpp
+10 -9
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@@ -173,15 +173,16 @@ mixer_tick(void)
* here.
*/
should_arm = (
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
/* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
/* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
/* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
/* or failsafe was set manually */ || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))
)
);
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)/* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)/* and IO is armed */
&& (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)/* and FMU is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))/* and there is valid input via or mixer */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)/* or direct PWM is set */
|| ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
&& !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))/* or failsafe was set manually */
)
);
should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)