HAL_PX4: cleanup whitespace

This commit is contained in:
Andrew Tridgell 2017-01-08 12:19:55 +11:00
parent 6b4e5304cf
commit 1bd9d0b7f9
1 changed files with 64 additions and 64 deletions

View File

@ -14,13 +14,13 @@ extern const AP_HAL::HAL& hal;
void PX4RCInput::init() void PX4RCInput::init()
{ {
_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin"); _perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
_rc_sub = orb_subscribe(ORB_ID(input_rc)); _rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub == -1) { if (_rc_sub == -1) {
AP_HAL::panic("Unable to subscribe to input_rc"); AP_HAL::panic("Unable to subscribe to input_rc");
} }
clear_overrides(); clear_overrides();
pthread_mutex_init(&rcin_mutex, nullptr); pthread_mutex_init(&rcin_mutex, nullptr);
} }
bool PX4RCInput::new_input() bool PX4RCInput::new_input()
@ -43,78 +43,78 @@ uint8_t PX4RCInput::num_channels()
uint16_t PX4RCInput::read(uint8_t ch) uint16_t PX4RCInput::read(uint8_t ch)
{ {
if (ch >= RC_INPUT_MAX_CHANNELS) { if (ch >= RC_INPUT_MAX_CHANNELS) {
return 0; return 0;
} }
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
if (_override[ch]) { if (_override[ch]) {
uint16_t v = _override[ch]; uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch];
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
return v; return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
} }
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
{ {
if (len > RC_INPUT_MAX_CHANNELS) { if (len > RC_INPUT_MAX_CHANNELS) {
len = RC_INPUT_MAX_CHANNELS; len = RC_INPUT_MAX_CHANNELS;
} }
for (uint8_t i = 0; i < len; i++){ for (uint8_t i = 0; i < len; i++){
periods[i] = read(i); periods[i] = read(i);
} }
return len; return len;
} }
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len) bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
{ {
bool res = false; bool res = false;
for (uint8_t i = 0; i < len; i++) { for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]); res |= set_override(i, overrides[i]);
} }
return res; return res;
} }
bool PX4RCInput::set_override(uint8_t channel, int16_t override) { bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) { if (override < 0) {
return false; /* -1: no change. */ return false; /* -1: no change. */
} }
if (channel >= RC_INPUT_MAX_CHANNELS) { if (channel >= RC_INPUT_MAX_CHANNELS) {
return false; return false;
} }
_override[channel] = override; _override[channel] = override;
if (override != 0) { if (override != 0) {
_override_valid = true; _override_valid = true;
return true; return true;
} }
return false; return false;
} }
void PX4RCInput::clear_overrides() void PX4RCInput::clear_overrides()
{ {
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) { for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0); set_override(i, 0);
} }
} }
void PX4RCInput::_timer_tick(void) void PX4RCInput::_timer_tick(void)
{ {
perf_begin(_perf_rcin); perf_begin(_perf_rcin);
bool rc_updated = false; bool rc_updated = false;
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) { if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin); orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
} }
// note, we rely on the vehicle code checking new_input() // note, we rely on the vehicle code checking new_input()
// and a timeout for the last valid input to handle failsafe // and a timeout for the last valid input to handle failsafe
perf_end(_perf_rcin); perf_end(_perf_rcin);
} }
bool PX4RCInput::rc_bind(int dsmMode) bool PX4RCInput::rc_bind(int dsmMode)