From 9ecadcd9b46ccf9bc58ea008b77f8408155c3665 Mon Sep 17 00:00:00 2001 From: Johan Jansen Date: Fri, 16 Jan 2015 16:46:16 +0100 Subject: Astyle: Fix format for commander.cpp --- src/modules/commander/commander.cpp | 50 +++++++++++++++++++++---------------- 1 file changed, 29 insertions(+), 21 deletions(-) (limited to 'src/modules') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 57f94259c..aac6b2002 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -244,7 +244,8 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armed * @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each * time the vehicle is armed with a good GPS fix. **/ -static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition); +static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, + const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition); /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. @@ -566,7 +567,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s } break; - /* Flight termination */ + /* Flight termination */ case VEHICLE_CMD_DO_FLIGHTTERMINATION: { if (cmd->param1 > 0.5f) { //XXX update state machine? @@ -726,15 +727,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s * @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each * time the vehicle is armed with a good GPS fix. **/ -static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition) +static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, + const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition) { //Need global position fix to be able to set home - if(!status.condition_global_position_valid) { + if (!status.condition_global_position_valid) { return; } //Ensure that the GPS accuracy is good enough for intializing home - if(globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) { + if (globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) { return; } @@ -760,7 +762,7 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s & } //Play tune first time we initialize HOME - if(!status.condition_home_position_valid) { + if (!status.condition_home_position_valid) { tune_positive(true); } @@ -1147,8 +1149,8 @@ int commander_thread_main(int argc, char *argv[]) } /* set vehicle_status.is_vtol flag */ - status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) || - (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); + status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) || + (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); /* check and update system / component ID */ param_get(_param_system_id, &(status.system_id)); @@ -1310,12 +1312,12 @@ int commander_thread_main(int argc, char *argv[]) } //Notify the user if the status of the safety switch changes - if(safety.safety_switch_available && previous_safety_off != safety.safety_off) { + if (safety.safety_switch_available && previous_safety_off != safety.safety_off) { - if(safety.safety_off) { + if (safety.safety_off) { set_tune(TONE_NOTIFY_POSITIVE_TUNE); - } - else { + + } else { tune_neutral(true); } @@ -1330,6 +1332,7 @@ int commander_thread_main(int argc, char *argv[]) /* vtol status changed */ orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; + /* Make sure that this is only adjusted if vehicle realy is of type vtol*/ if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) { status.is_rotary_wing = vtol_status.vtol_in_rw_mode; @@ -1632,7 +1635,8 @@ int commander_thread_main(int argc, char *argv[]) } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums",(hrt_absolute_time()-status.rc_signal_lost_timestamp)/1000); + mavlink_log_critical(mavlink_fd, "RC SIGNAL REGAINED after %llums", + (hrt_absolute_time() - status.rc_signal_lost_timestamp) / 1000); status_changed = true; } } @@ -1733,9 +1737,9 @@ int commander_thread_main(int argc, char *argv[]) } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)",hrt_absolute_time()/1000); + mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST (at t=%llums)", hrt_absolute_time() / 1000); status.rc_signal_lost = true; - status.rc_signal_lost_timestamp=sp_man.timestamp; + status.rc_signal_lost_timestamp = sp_man.timestamp; status_changed = true; } } @@ -1886,13 +1890,13 @@ int commander_thread_main(int argc, char *argv[]) const hrt_abstime now = hrt_absolute_time(); //First time home position update - if(!status.condition_home_position_valid) { - commander_set_home_position(home_pub, home, local_position, global_position); + if (!status.condition_home_position_valid) { + commander_set_home_position(home_pub, home, local_position, global_position); } /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ - else if(arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) { - commander_set_home_position(home_pub, home, local_position, global_position); + else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) { + commander_set_home_position(home_pub, home, local_position, global_position); } /* print new state */ @@ -1919,11 +1923,14 @@ int commander_thread_main(int argc, char *argv[]) if (status.failsafe != failsafe_old) { status_changed = true; + if (status.failsafe) { mavlink_log_critical(mavlink_fd, "failsafe mode on"); + } else { mavlink_log_critical(mavlink_fd, "failsafe mode off"); } + failsafe_old = status.failsafe; } @@ -1969,7 +1976,7 @@ int commander_thread_main(int argc, char *argv[]) if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) { //Notify the user that it is safe to approach the vehicle - if(arm_tune_played) { + if (arm_tune_played) { tune_neutral(true); } @@ -2436,6 +2443,7 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; } + break; default: @@ -2474,7 +2482,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul { switch (result) { case VEHICLE_CMD_RESULT_ACCEPTED: - tune_positive(true); + tune_positive(true); break; case VEHICLE_CMD_RESULT_DENIED: -- cgit v1.2.3