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Rover: reindent all of the new GCS_MAVLink handling methods (NFC)

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Peter Barker 2021-01-04 20:23:55 +11:00 committed by Randy Mackay
parent 2240a60e20
commit 0273d92887
1 changed files with 303 additions and 303 deletions
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28
Rover/GCS_Mavlink.cpp
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@ -779,7 +779,7 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
}
void GCS_MAVLINK_Rover::handle_manual_control(const mavlink_message_t &msg)
{
{
if (msg.sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
return;
}
@ -798,19 +798,19 @@ void GCS_MAVLINK_Rover::handle_manual_control(const mavlink_message_t &msg)
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
rover.failsafe.last_heartbeat_ms = tnow;
}
}
void GCS_MAVLINK_Rover::handle_heartbeat(const mavlink_message_t &msg)
{
{
// we keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg.sysid != rover.g.sysid_my_gcs) {
return;
}
rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
}
}
void GCS_MAVLINK_Rover::handle_set_attitude_target(const mavlink_message_t &msg)
{
{
// decode packet
mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(&msg, &packet);
@ -838,10 +838,10 @@ void GCS_MAVLINK_Rover::handle_set_attitude_target(const mavlink_message_t &msg)
// use body_yaw_rate field
rover.mode_guided.set_desired_turn_rate_and_speed((RAD_TO_DEG * packet.body_yaw_rate) * 100.0f, target_speed);
}
}
}
void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_message_t &msg)
{
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
@ -964,10 +964,10 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
// consume just turn rate (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
}
}
void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_message_t &msg)
{
{
// decode packet
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
@ -1068,11 +1068,11 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
// consume just turn rate(probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
}
}
#if HIL_MODE != HIL_MODE_DISABLED
void GCS_MAVLINK_Rover::handle_hil_state(const mavlink_message_t &msg)
{
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(&msg, &packet);
@ -1110,13 +1110,13 @@ void GCS_MAVLINK_Rover::handle_hil_state(const mavlink_message_t &msg)
ins.set_accel(0, accels);
compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
}
}
#endif // HIL_MODE
void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
{
{
handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
}
}
uint64_t GCS_MAVLINK_Rover::capabilities() const