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| author | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:21:40 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:21:40 -0500 |
| commit | e02791ee8e56cbe913751cbb279cb66ab5919202 (patch) | |
| tree | a45352758eeaad4d4de010162c2cbc67866b106b /apps | |
| parent | 69f6fe51bc26a49d136f2a6786f440ad7a3f4931 (diff) | |
| download | px4-firmware-e02791ee8e56cbe913751cbb279cb66ab5919202.tar.gz px4-firmware-e02791ee8e56cbe913751cbb279cb66ab5919202.tar.bz2 px4-firmware-e02791ee8e56cbe913751cbb279cb66ab5919202.zip | |
Added assertion, fixed formatting.
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 23 |
1 files changed, 12 insertions, 11 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index ae81dc9f9..fa63c419f 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg) /* gps */ hil_gps.timestamp = gps.time_usec; hil_gps.counter = hil_counter++; - hil_gps.time_gps_usec = gps.time_usec; + hil_gps.time_gps_usec = gps.time_usec; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; - hil_gps.counter_pos_valid = hil_counter++; - hil_gps.eph = gps.eph; - hil_gps.epv = gps.epv; - hil_gps.s_variance = 100; - hil_gps.p_variance = 100; - hil_gps.vel = gps.vel; + hil_gps.counter_pos_valid = hil_counter++; + hil_gps.eph = gps.eph; + hil_gps.epv = gps.epv; + hil_gps.s_variance = 100; + hil_gps.p_variance = 100; + hil_gps.vel = gps.vel; hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f); hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f); hil_gps.vel_d = 0.0f; - hil_gps.cog = gps.cog; + hil_gps.cog = gps.cog; hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + hil_gps.satellites_visible = gps.satellites_visible; /* publish */ orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps); @@ -439,8 +439,8 @@ handle_message(mavlink_message_t *msg) static const float g = 9.806f; float tempC = press.temperature / 100.0f; - float tempAvgK = T0 + (tempC + ground_tempC)/2.0f; - float h = ground_alt + (R/g)*tempAvgK*logf(ground_press / press.press_abs); + float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; + float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); hil_sensors.baro_counter = hil_counter; hil_sensors.baro_pres_mbar = press.press_abs; hil_sensors.baro_alt_meter = h; @@ -584,6 +584,7 @@ receive_thread(void *arg) if (poll(fds, 1, timeout) > 0) { /* non-blocking read */ size_t nread = read(uart_fd, buf, sizeof(buf)); + ASSERT(nread > 0) for (size_t i = 0; i < nread; i++) { if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char |