From 2f646e7082b49ef92bf9be1defd6fb7fdeec8480 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 5 Dec 2014 09:02:06 +0100 Subject: mc att control: ran fix code style script --- src/modules/mc_att_control/mc_att_control_main.cpp | 23 ++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp') diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 7bc638e5d..d6a58f418 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -477,8 +477,9 @@ MulticopterAttitudeControl::task_main() int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); /* timed out - periodic check for _task_should_exit */ - if (pret == 0) + if (pret == 0) { continue; + } /* this is undesirable but not much we can do - might want to flag unhappy status */ if (pret < 0) { @@ -522,10 +523,11 @@ MulticopterAttitudeControl::task_main() if (_att_sp_pub > 0) { orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, - &_v_att_sp); + &_v_att_sp); + } else { _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), - &_v_att_sp); + &_v_att_sp); } } @@ -547,7 +549,8 @@ MulticopterAttitudeControl::task_main() /* attitude controller disabled, poll rates setpoint topic */ if (_v_control_mode.flag_control_manual_enabled) { /* manual rates control - ACRO mode */ - _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); + _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, + _manual_control_sp.r).emult(_params.acro_rate_max); _thrust_sp = _manual_control_sp.z; /* reset yaw setpoint after ACRO */ @@ -630,18 +633,21 @@ MulticopterAttitudeControl::start() int mc_att_control_main(int argc, char *argv[]) { - if (argc < 1) + if (argc < 1) { errx(1, "usage: mc_att_control {start|stop|status}"); + } if (!strcmp(argv[1], "start")) { - if (mc_att_control::g_control != nullptr) + if (mc_att_control::g_control != nullptr) { errx(1, "already running"); + } mc_att_control::g_control = new MulticopterAttitudeControl; - if (mc_att_control::g_control == nullptr) + if (mc_att_control::g_control == nullptr) { errx(1, "alloc failed"); + } if (OK != mc_att_control::g_control->start()) { delete mc_att_control::g_control; @@ -653,8 +659,9 @@ int mc_att_control_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - if (mc_att_control::g_control == nullptr) + if (mc_att_control::g_control == nullptr) { errx(1, "not running"); + } delete mc_att_control::g_control; mc_att_control::g_control = nullptr; -- cgit v1.2.3