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Copter: minor formatting fixes

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This commit is contained in:
murata 2018-02-12 09:39:54 +09:00 committed by Randy Mackay
parent c31c2a4cf1
commit 296ee7315b
3 changed files with 8 additions and 8 deletions
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10
ArduCopter/GCS_Mavlink.cpp
View File

@ -215,7 +215,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_roll_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f,
degrees(gyro.x),
pid_info.FF*0.01f,
@ -228,7 +228,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 2) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_pitch_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f,
degrees(gyro.y),
pid_info.FF*0.01f,
@ -241,7 +241,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 4) {
const DataFlash_Class::PID_Info &pid_info = attitude_control->get_rate_yaw_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f,
degrees(gyro.z),
pid_info.FF*0.01f,
@ -254,7 +254,7 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = copter.pos_control->get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
pid_info.FF*0.01f,
@ -413,7 +413,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
copter.camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;

4
ArduCopter/switches.cpp
View File

@ -78,7 +78,7 @@ void Copter::read_control_switch()
// check_if_auxsw_mode_used - Check to see if any of the Aux Switches are set to a given mode.
bool Copter::check_if_auxsw_mode_used(uint8_t auxsw_mode_check)
{
bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
|| g.ch10_option == auxsw_mode_check || g.ch11_option == auxsw_mode_check || g.ch12_option == auxsw_mode_check;
return ret;
@ -180,7 +180,7 @@ void Copter::init_aux_switches()
// init_aux_switch_function - initialize aux functions
void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
{
{
// init channel options
switch(ch_option) {
case AUXSW_SIMPLE_MODE:

2
ArduCopter/tuning.cpp
View File

@ -10,7 +10,7 @@
void Copter::tuning() {
RC_Channel *rc6 = RC_Channels::rc_channel(CH_6);
// exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero
// exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero
if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
return;
}