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uncrustify ArduCopter/commands_process.pde

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uncrustify 2012-08-16 17:50:03 -07:00 committed by Pat Hickey
parent b6dd8aa592
commit 1e2c01d8f6
1 changed files with 155 additions and 155 deletions
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36
ArduCopter/commands_process.pde
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@ -14,7 +14,7 @@ static void change_command(uint8_t cmd_index)
//Serial.printf("loading cmd: %d with id:%d\n", cmd_index, temp.id);
// verify it's a nav command
if(temp.id > MAV_CMD_NAV_LAST){
if(temp.id > MAV_CMD_NAV_LAST) {
//gcs_send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd"));
}else{
@ -42,7 +42,7 @@ static void update_commands()
if(g.command_total <= 1 || g.command_index >= 255)
return;
if(command_nav_queue.id == NO_COMMAND){
if(command_nav_queue.id == NO_COMMAND) {
// Our queue is empty
// fill command queue with a new command if available, or exit mission
// -------------------------------------------------------------------
@ -50,12 +50,12 @@ static void update_commands()
// find next nav command
int16_t tmp_index;
if(command_nav_index < g.command_total){
if(command_nav_index < g.command_total) {
// what is the next index for a nav command?
tmp_index = find_next_nav_index(command_nav_index + 1);
if(tmp_index == -1){
if(tmp_index == -1) {
exit_mission();
return;
}else{
@ -70,13 +70,13 @@ static void update_commands()
// Fast corner management
// ----------------------
if(tmp_index == -1){
if(tmp_index == -1) {
// there are no more commands left
}else{
// we have at least one more cmd left
Location tmp_loc = get_cmd_with_index(tmp_index);
if(tmp_loc.lat == 0){
if(tmp_loc.lat == 0) {
fast_corner = false;
}else{
int32_t temp = get_bearing_cd(&next_WP, &tmp_loc) - original_target_bearing;
@ -91,7 +91,7 @@ static void update_commands()
}
}
if(command_cond_queue.id == NO_COMMAND){
if(command_cond_queue.id == NO_COMMAND) {
// Our queue is empty
// fill command queue with a new command if available, or do nothing
// -------------------------------------------------------------------
@ -100,11 +100,11 @@ static void update_commands()
if(prev_nav_index == NO_COMMAND)
return;
if(command_cond_index >= command_nav_index){
if(command_cond_index >= command_nav_index) {
// don't process the fututre
return;
}else if(command_cond_index == NO_COMMAND){
}else if(command_cond_index == NO_COMMAND) {
// start from scratch
// look at command after the most recent completed nav
command_cond_index = prev_nav_index + 1;
@ -114,18 +114,18 @@ static void update_commands()
command_cond_index++;
}
if(command_cond_index < (g.command_total -2)){
if(command_cond_index < (g.command_total -2)) {
// we're OK to load a new command (last command must be a nav command)
command_cond_queue = get_cmd_with_index(command_cond_index);
if(command_cond_queue.id > MAV_CMD_CONDITION_LAST){
if(command_cond_queue.id > MAV_CMD_CONDITION_LAST) {
// this is a do now command
process_now_command();
// clear command queue
command_cond_queue.id = NO_COMMAND;
}else if(command_cond_queue.id > MAV_CMD_NAV_LAST){
}else if(command_cond_queue.id > MAV_CMD_NAV_LAST) {
// this is a conditional command
process_cond_command();
@ -164,7 +164,7 @@ static void execute_nav_command(void)
// called with GPS navigation update - not constantly
static void verify_commands(void)
{
if(verify_must()){
if(verify_must()) {
//Serial.printf("verified must cmd %d\n" , command_nav_index);
command_nav_queue.id = NO_COMMAND;
@ -179,7 +179,7 @@ static void verify_commands(void)
//Serial.printf("verified must false %d\n" , command_nav_index);
}
if(verify_may()){
if(verify_may()) {
//Serial.printf("verified may cmd %d\n" , command_cond_index);
command_cond_queue.id = NO_COMMAND;
}
@ -189,9 +189,9 @@ static void verify_commands(void)
static int16_t find_next_nav_index(int16_t search_index)
{
Location tmp;
while(search_index < g.command_total - 1){
while(search_index < g.command_total - 1) {
tmp = get_cmd_with_index(search_index);
if(tmp.id <= MAV_CMD_NAV_LAST){
if(tmp.id <= MAV_CMD_NAV_LAST) {
return search_index;
}else{
search_index++;
@ -207,11 +207,11 @@ static void exit_mission()
g.command_index = 255;
// if we are on the ground, enter stabilize, else Land
if(land_complete == true){
if(land_complete == true) {
// we will disarm the motors after landing.
}else{
// If the approach altitude is valid (above 1m), do approach, else land
if(g.rtl_approach_alt == 0){
if(g.rtl_approach_alt == 0) {
set_mode(LAND);
}else{
set_mode(LOITER);