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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-26 23:39:17 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-26 23:39:17 +0200 |
commit | 8e8798a5225d333596c9018ec703da0c6787493d (patch) | |
tree | 7079883c342938827aefd0dae6ea9df6337961a1 /src/modules/navigator/rtl.cpp | |
parent | 6e5aafb3a753f83b1db936e94de09144ee115c0d (diff) | |
download | px4-firmware-8e8798a5225d333596c9018ec703da0c6787493d.tar.gz px4-firmware-8e8798a5225d333596c9018ec703da0c6787493d.tar.bz2 px4-firmware-8e8798a5225d333596c9018ec703da0c6787493d.zip |
navigator: spaces/tabs fixed, old commented code removed
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
-rw-r--r-- | src/modules/navigator/rtl.cpp | 72 |
1 files changed, 36 insertions, 36 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index a2eec8589..c5bb06c3b 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -79,7 +79,7 @@ RTL::on_inactive() /* reset RTL state only if setpoint moved */ if (!_navigator->get_can_loiter_at_sp()) { - _rtl_state = RTL_STATE_NONE; + _rtl_state = RTL_STATE_NONE; } } @@ -89,28 +89,28 @@ RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) bool updated = false; if (_first_run) { - _first_run = false; - - /* decide where to enter the RTL procedure when we switch into it */ - if (_rtl_state == RTL_STATE_NONE) { - /* for safety reasons don't go into RTL if landed */ - if (_navigator->get_vstatus()->condition_landed) { - _rtl_state = RTL_STATE_FINISHED; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); - - /* if lower than return altitude, climb up first */ - } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt - + _param_return_alt.get()) { - _rtl_state = RTL_STATE_CLIMB; - - /* otherwise go straight to return */ - } else { - /* set altitude setpoint to current altitude */ - _rtl_state = RTL_STATE_RETURN; - _mission_item.altitude_is_relative = false; - _mission_item.altitude = _navigator->get_global_position()->alt; - } - } + _first_run = false; + + /* decide where to enter the RTL procedure when we switch into it */ + if (_rtl_state == RTL_STATE_NONE) { + /* for safety reasons don't go into RTL if landed */ + if (_navigator->get_vstatus()->condition_landed) { + _rtl_state = RTL_STATE_FINISHED; + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); + + /* if lower than return altitude, climb up first */ + } else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + + _param_return_alt.get()) { + _rtl_state = RTL_STATE_CLIMB; + + /* otherwise go straight to return */ + } else { + /* set altitude setpoint to current altitude */ + _rtl_state = RTL_STATE_RETURN; + _mission_item.altitude_is_relative = false; + _mission_item.altitude = _navigator->get_global_position()->alt; + } + } set_rtl_item(pos_sp_triplet); @@ -132,15 +132,15 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) /* make sure we have the latest params */ updateParams(); - if (_rtl_state == RTL_STATE_FINISHED) { - /* RTL finished, nothing to do */ - pos_sp_triplet->next.valid = false; - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed"); - return; - } + if (_rtl_state == RTL_STATE_FINISHED) { + /* RTL finished, nothing to do */ + pos_sp_triplet->next.valid = false; + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed"); + return; + } - set_previous_pos_setpoint(pos_sp_triplet); - _navigator->set_can_loiter_at_sp(false); + set_previous_pos_setpoint(pos_sp_triplet); + _navigator->set_can_loiter_at_sp(false); switch (_rtl_state) { case RTL_STATE_CLIMB: { @@ -241,11 +241,11 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) break; } - /* convert mission item to current position setpoint and make it valid */ - mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - reset_mission_item_reached(); - pos_sp_triplet->current.valid = true; - pos_sp_triplet->next.valid = false; + /* convert mission item to current position setpoint and make it valid */ + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + reset_mission_item_reached(); + pos_sp_triplet->current.valid = true; + pos_sp_triplet->next.valid = false; } void |