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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-21 20:06:34 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-21 20:06:34 +0400 |
commit | 1c49d768fbf2b69bf2500a4dc48ac2a95c0d2ba1 (patch) | |
tree | d07f8c65f2862379f0bd33129412bd44d455b29c /src | |
parent | b1e59f37fe3f652002f2e92a205de5994c9c8120 (diff) | |
download | px4-firmware-1c49d768fbf2b69bf2500a4dc48ac2a95c0d2ba1.tar.gz px4-firmware-1c49d768fbf2b69bf2500a4dc48ac2a95c0d2ba1.tar.bz2 px4-firmware-1c49d768fbf2b69bf2500a4dc48ac2a95c0d2ba1.zip |
mavlink: code style fixed
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 41 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 90 |
2 files changed, 68 insertions, 63 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index ff1c070cb..9a8e1e5a7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -151,8 +151,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length } /* no valid instance, bail */ - if (!instance) + if (!instance) { return; + } int uart = instance->get_uart_fd(); @@ -165,12 +166,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length int buf_free = 0; if (instance->get_flow_control_enabled() - && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { if (buf_free == 0) { if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) { + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { warnx("DISABLING HARDWARE FLOW CONTROL"); instance->enable_flow_control(false); @@ -225,30 +226,37 @@ Mavlink::Mavlink() : case 0: _channel = MAVLINK_COMM_0; break; + case 1: _channel = MAVLINK_COMM_1; break; + case 2: _channel = MAVLINK_COMM_2; break; + case 3: _channel = MAVLINK_COMM_3; break; #ifdef MAVLINK_COMM_4 + case 4: _channel = MAVLINK_COMM_4; break; #endif #ifdef MAVLINK_COMM_5 - case 5: + + case 5: _channel = MAVLINK_COMM_5; break; #endif #ifdef MAVLINK_COMM_6 + case 6: _channel = MAVLINK_COMM_6; break; #endif + default: errx(1, "instance ID is out of range"); break; @@ -279,6 +287,7 @@ Mavlink::~Mavlink() } } while (_task_running); } + LL_DELETE(_mavlink_instances, this); } @@ -604,12 +613,16 @@ Mavlink::enable_flow_control(bool enabled) } struct termios uart_config; + int ret = tcgetattr(_uart_fd, &uart_config); + if (enabled) { uart_config.c_cflag |= CRTSCTS; + } else { uart_config.c_cflag &= ~CRTSCTS; } + ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); if (!ret) { @@ -1652,6 +1665,7 @@ Mavlink::task_main(int argc, char *argv[]) case 'm': if (strcmp(optarg, "custom") == 0) { _mode = MAVLINK_MODE_CUSTOM; + } else if (strcmp(optarg, "camera") == 0) { _mode = MAVLINK_MODE_CAMERA; } @@ -1973,6 +1987,7 @@ Mavlink::start(int argc, char *argv[]) const unsigned limit = 100 * 1000 / sleeptime; unsigned count = 0; + while (ic == Mavlink::instance_count() && count < limit) { ::usleep(sleeptime); count++; @@ -2003,20 +2018,26 @@ Mavlink::stream(int argc, char *argv[]) bool err_flag = false; int i = 0; + while (i < argc) { - if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) { - rate = strtod(argv[i+1], nullptr); + if (0 == strcmp(argv[i], "-r") && i < argc - 1) { + rate = strtod(argv[i + 1], nullptr); + if (rate < 0.0f) { err_flag = true; } + i++; - } else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) { - device_name = argv[i+1]; + + } else if (0 == strcmp(argv[i], "-d") && i < argc - 1) { + device_name = argv[i + 1]; i++; - } else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) { - stream_name = argv[i+1]; + + } else if (0 == strcmp(argv[i], "-s") && i < argc - 1) { + stream_name = argv[i + 1]; i++; + } else { err_flag = true; } diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a4a3c681f..037999af7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -262,7 +262,6 @@ protected: void send(const hrt_abstime t) { if (status_sub->update(t)) { - mavlink_msg_sys_status_send(_channel, status->onboard_control_sensors_present, status->onboard_control_sensors_enabled, @@ -318,7 +317,6 @@ protected: void send(const hrt_abstime t) { if (sensor_sub->update(t)) { - uint16_t fields_updated = 0; if (accel_timestamp != sensor->accelerometer_timestamp) { @@ -385,7 +383,6 @@ protected: void send(const hrt_abstime t) { if (att_sub->update(t)) { - mavlink_msg_attitude_send(_channel, att->timestamp / 1000, att->roll, att->pitch, att->yaw, @@ -422,7 +419,6 @@ protected: void send(const hrt_abstime t) { if (att_sub->update(t)) { - mavlink_msg_attitude_quaternion_send(_channel, att->timestamp / 1000, att->q[0], @@ -494,7 +490,6 @@ protected: updated |= airspeed_sub->update(t); if (updated) { - float groundspeed = sqrtf(pos->vel_n * pos->vel_n + pos->vel_e * pos->vel_e); uint16_t heading = _wrap_2pi(att->yaw) * M_RAD_TO_DEG_F; float throttle = armed->armed ? act->control[3] * 100.0f : 0.0f; @@ -538,7 +533,6 @@ protected: void send(const hrt_abstime t) { if (gps_sub->update(t)) { - mavlink_msg_gps_raw_int_send(_channel, gps->timestamp_position, gps->fix_type, @@ -592,15 +586,15 @@ protected: if (updated) { mavlink_msg_global_position_int_send(_channel, - pos->timestamp / 1000, - pos->lat * 1e7, - pos->lon * 1e7, - pos->alt * 1000.0f, - (pos->alt - home->alt) * 1000.0f, - pos->vel_n * 100.0f, - pos->vel_e * 100.0f, - pos->vel_d * 100.0f, - _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f); + pos->timestamp / 1000, + pos->lat * 1e7, + pos->lon * 1e7, + pos->alt * 1000.0f, + (pos->alt - home->alt) * 1000.0f, + pos->vel_n * 100.0f, + pos->vel_e * 100.0f, + pos->vel_d * 100.0f, + _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f); } } }; @@ -633,7 +627,6 @@ protected: void send(const hrt_abstime t) { if (pos_sub->update(t)) { - mavlink_msg_local_position_ned_send(_channel, pos->timestamp / 1000, pos->x, @@ -730,7 +723,6 @@ protected: void send(const hrt_abstime t) { if (act_sub->update(t)) { - mavlink_msg_servo_output_raw_send(_channel, act->timestamp / 1000, _n, @@ -790,7 +782,6 @@ protected: updated |= act_sub->update(t); if (updated) { - /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; @@ -870,7 +861,6 @@ protected: void send(const hrt_abstime t) { if (pos_sp_triplet_sub->update(t)) { - mavlink_msg_global_position_setpoint_int_send(_channel, MAV_FRAME_GLOBAL, (int32_t)(pos_sp_triplet->current.lat * 1e7), @@ -908,14 +898,14 @@ protected: void send(const hrt_abstime t) { - pos_sp_sub->update(t); - - mavlink_msg_local_position_setpoint_send(_channel, - MAV_FRAME_LOCAL_NED, - pos_sp->x, - pos_sp->y, - pos_sp->z, - pos_sp->yaw); + if (pos_sp_sub->update(t)) { + mavlink_msg_local_position_setpoint_send(_channel, + MAV_FRAME_LOCAL_NED, + pos_sp->x, + pos_sp->y, + pos_sp->z, + pos_sp->yaw); + } } }; @@ -947,7 +937,6 @@ protected: void send(const hrt_abstime t) { if (att_sp_sub->update(t)) { - mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel, att_sp->timestamp / 1000, att_sp->roll_body, @@ -986,7 +975,6 @@ protected: void send(const hrt_abstime t) { if (att_rates_sp_sub->update(t)) { - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel, att_rates_sp->timestamp / 1000, att_rates_sp->roll, @@ -1025,7 +1013,6 @@ protected: void send(const hrt_abstime t) { if (rc_sub->update(t)) { - const unsigned port_width = 8; for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) { @@ -1075,7 +1062,6 @@ protected: void send(const hrt_abstime t) { if (manual_sub->update(t)) { - mavlink_msg_manual_control_send(_channel, mavlink_system.sysid, manual->roll * 1000, @@ -1115,7 +1101,6 @@ protected: void send(const hrt_abstime t) { if (flow_sub->update(t)) { - mavlink_msg_optical_flow_send(_channel, flow->timestamp, flow->sensor_id, @@ -1154,24 +1139,23 @@ protected: void send(const hrt_abstime t) { if (att_ctrl_sub->update(t)) { - - // send, add spaces so that string buffer is at least 10 chars long - mavlink_msg_named_value_float_send(_channel, - att_ctrl->timestamp / 1000, - "rll ctrl ", - att_ctrl->control[0]); - mavlink_msg_named_value_float_send(_channel, - att_ctrl->timestamp / 1000, - "ptch ctrl ", - att_ctrl->control[1]); - mavlink_msg_named_value_float_send(_channel, - att_ctrl->timestamp / 1000, - "yaw ctrl ", - att_ctrl->control[2]); - mavlink_msg_named_value_float_send(_channel, - att_ctrl->timestamp / 1000, - "thr ctrl ", - att_ctrl->control[3]); + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "rll ctrl ", + att_ctrl->control[0]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "ptch ctrl ", + att_ctrl->control[1]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "yaw ctrl ", + att_ctrl->control[2]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "thr ctrl ", + att_ctrl->control[3]); } } }; @@ -1203,8 +1187,7 @@ protected: void send(const hrt_abstime t) { if (debug_sub->update(t)) { - - // Enforce null termination + /* enforce null termination */ debug->key[sizeof(debug->key) - 1] = '\0'; mavlink_msg_named_value_float_send(_channel, @@ -1246,10 +1229,11 @@ protected: (void)status_sub->update(t); if (status->arming_state == ARMING_STATE_ARMED - || status->arming_state == ARMING_STATE_ARMED_ERROR) { + || status->arming_state == ARMING_STATE_ARMED_ERROR) { /* send camera capture on */ mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0); + } else { /* send camera capture off */ mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0); |