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Land detector: Fix code style

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This commit is contained in:
Lorenz Meier
2015-10-19 13:47:57 +02:00
parent 948ff80b80
commit fc29fed260
5 changed files with 31 additions and 25 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+15 -13
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@@ -49,18 +49,18 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
_paramHandle(),
_params(),
_vehicleLocalPositionSub(-1),
_vehicleLocalPosition({}),
_airspeedSub(-1),
_vehicleStatusSub(-1),
_armingSub(-1),
_airspeed{},
_vehicleStatus{},
_arming{},
_parameterSub(-1),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
_airspeed_filtered(0.0f),
_landDetectTrigger(0)
_vehicleLocalPosition( {}),
_airspeedSub(-1),
_vehicleStatusSub(-1),
_armingSub(-1),
_airspeed{},
_vehicleStatus{},
_arming{},
_parameterSub(-1),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
_airspeed_filtered(0.0f),
_landDetectTrigger(0)
{
_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");
@@ -101,10 +101,12 @@ bool FixedwingLandDetector::update()
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val;
}
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicleLocalPosition.vz);
if (PX4_ISFINITE(val)) {