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AP_Landing: Deepstall: Small style fixes

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This commit is contained in:
Michael du Breuil 2017-10-13 16:25:37 -07:00 committed by Tom Pittenger
parent d166832de4
commit 2b4cf54797
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -281,7 +281,6 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
// that will be handled within override_servos
initial_elevator_pwm = elevator->get_output_pwm();
}
L1_xtrack_i = 0; // reset the integrators
}
FALLTHROUGH;
case DEEPSTALL_STAGE_LAND:
@ -296,7 +295,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
bool AP_Landing_Deepstall::override_servos(void)
{
if (!(stage == DEEPSTALL_STAGE_LAND)) {
if (stage != DEEPSTALL_STAGE_LAND) {
return false;
}
@ -304,8 +303,7 @@ bool AP_Landing_Deepstall::override_servos(void)
if (elevator == nullptr) {
// deepstalls are impossible without these channels, abort the process
gcs().send_text(MAV_SEVERITY_CRITICAL,
"Deepstall: Unable to find the elevator channels");
gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: Unable to find the elevator channels");
request_go_around();
return false;
}
@ -314,7 +312,6 @@ bool AP_Landing_Deepstall::override_servos(void)
float slew_progress = 1.0f;
if (slew_speed > 0) {
slew_progress = (AP_HAL::millis() - stall_entry_time) / (100.0f * slew_speed);
slew_progress = constrain_float (slew_progress, 0.0f, 1.0f);
}
// mix the elevator to the correct value