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APMrover2: fix indentation leading to compiler warning

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GCC 6 has a new warning about misleading indentation:

../../APMrover2/system.cpp: In member function ‘void Rover::set_mode(mode)’:
../../APMrover2/system.cpp:272:5: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
     if (control_mode == AUTO)
     ^~
../../APMrover2/system.cpp:275:2: note: ...this statement, but the^Bn latter is misleadingly indented as if it is guarded by the ‘if’
  control_mode = mode;
  ^~~~~~~~~~~~

The issue here is that we are mixing tabs and spaces. Remove tabs and re-indent
the code.
This commit is contained in:
Lucas De Marchi 2016-05-16 14:04:10 -03:00
parent 7af888633d
commit 368a72044c
1 changed files with 111 additions and 111 deletions
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202
APMrover2/system.cpp
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@ -1,8 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/***************************************************************************** /*****************************************************************************
The init_ardupilot function processes everything we need for an in - air restart The init_ardupilot function processes everything we need for an in - air restart
We will determine later if we are actually on the ground and process a We will determine later if we are actually on the ground and process a
ground start in that case. ground start in that case.
*****************************************************************************/ *****************************************************************************/
@ -14,26 +14,26 @@ The init_ardupilot function processes everything we need for an in - air restart
// This is the help function // This is the help function
int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv) int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
{ {
cliSerial->printf("Commands:\n" cliSerial->printf("Commands:\n"
" logs log readback/setup mode\n" " logs log readback/setup mode\n"
" setup setup mode\n" " setup setup mode\n"
" test test mode\n" " test test mode\n"
"\n" "\n"
"Move the slide switch and reset to FLY.\n" "Move the slide switch and reset to FLY.\n"
"\n"); "\n");
return(0); return(0);
} }
// Command/function table for the top-level menu. // Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] = { static const struct Menu::command main_menu_commands[] = {
// command function called // command function called
// ======= =============== // ======= ===============
{"logs", MENU_FUNC(process_logs)}, {"logs", MENU_FUNC(process_logs)},
{"setup", MENU_FUNC(setup_mode)}, {"setup", MENU_FUNC(setup_mode)},
{"test", MENU_FUNC(test_mode)}, {"test", MENU_FUNC(test_mode)},
{"reboot", MENU_FUNC(reboot_board)}, {"reboot", MENU_FUNC(reboot_board)},
{"help", MENU_FUNC(main_menu_help)} {"help", MENU_FUNC(main_menu_help)}
}; };
// Create the top-level menu object. // Create the top-level menu object.
@ -80,13 +80,13 @@ void Rover::init_ardupilot()
// initialise console serial port // initialise console serial port
serial_manager.init_console(); serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n", "\n\nFree RAM: %u\n",
hal.util->available_memory()); hal.util->available_memory());
// //
// Check the EEPROM format version before loading any parameters from EEPROM. // Check the EEPROM format version before loading any parameters from EEPROM.
// //
load_parameters(); load_parameters();
@ -108,7 +108,7 @@ void Rover::init_ardupilot()
// init baro before we start the GCS, so that the CLI baro test works // init baro before we start the GCS, so that the CLI baro test works
barometer.init(); barometer.init();
// init the GCS // init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0); gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial // we start by assuming USB connected, as we initialed the serial
@ -130,7 +130,7 @@ void Rover::init_ardupilot()
frsky_telemetry.init(serial_manager); frsky_telemetry.init(serial_manager);
#endif #endif
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
log_init(); log_init();
@ -142,29 +142,29 @@ void Rover::init_ardupilot()
// more than 5ms remaining in your call to hal.scheduler->delay // more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5); hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
if (g.compass_enabled==true) { if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) { if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!"); cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false; g.compass_enabled = false;
} else { } else {
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference //compass.get_offsets(); // load offsets to account for airframe magnetic interference
} }
} }
// initialise sonar // initialise sonar
init_sonar(); init_sonar();
// and baro for EKF // and baro for EKF
init_barometer(); init_barometer();
// Do GPS init // Do GPS init
gps.init(&DataFlash, serial_manager); gps.init(&DataFlash, serial_manager);
rc_override_active = hal.rcin->set_overrides(rc_override, 8); rc_override_active = hal.rcin->set_overrides(rc_override, 8);
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs init_rc_out(); // sets up the timer libs
relay.init(); relay.init();
@ -181,12 +181,12 @@ void Rover::init_ardupilot()
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu. // If the switch is in 'menu' mode, run the main menu.
// //
// Since we can't be sure that the setup or test mode won't leave // Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top // the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly. // menu; they must reset in order to fly.
// //
if (g.cli_enabled == 1) { if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n"; const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg); cliSerial->println(msg);
@ -199,15 +199,15 @@ void Rover::init_ardupilot()
} }
#endif #endif
init_capabilities(); init_capabilities();
startup_ground(); startup_ground();
set_mode((enum mode)g.initial_mode.get()); set_mode((enum mode)g.initial_mode.get());
// set the correct flight mode // set the correct flight mode
// --------------------------- // ---------------------------
reset_control_switch(); reset_control_switch();
} }
//******************************************************************************** //********************************************************************************
@ -217,22 +217,22 @@ void Rover::startup_ground(void)
{ {
set_mode(INITIALISING); set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start"); gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0) #if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay"); gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000); delay(GROUND_START_DELAY * 1000);
#endif #endif
//IMU ground start //IMU ground start
//------------------------ //------------------------
// //
startup_INS_ground(); startup_INS_ground();
// read the radio to set trims // read the radio to set trims
// --------------------------- // ---------------------------
trim_radio(); trim_radio();
// initialise mission library // initialise mission library
mission.init(); mission.init();
@ -244,7 +244,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash); ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive"); gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
} }
/* /*
@ -263,16 +263,17 @@ void Rover::set_reverse(bool reverse)
void Rover::set_mode(enum mode mode) void Rover::set_mode(enum mode mode)
{ {
if(control_mode == mode){ if (control_mode == mode){
// don't switch modes if we are already in the correct mode. // don't switch modes if we are already in the correct mode.
return; return;
} }
// If we are changing out of AUTO mode reset the loiter timer // If we are changing out of AUTO mode reset the loiter timer
if (control_mode == AUTO) if (control_mode == AUTO) {
loiter_time = 0; loiter_time = 0;
}
control_mode = mode; control_mode = mode;
throttle_last = 0; throttle_last = 0;
throttle = 500; throttle = 500;
set_reverse(false); set_reverse(false);
@ -282,44 +283,43 @@ void Rover::set_mode(enum mode mode)
auto_triggered = false; auto_triggered = false;
} }
switch(control_mode) switch(control_mode) {
{ case MANUAL:
case MANUAL: case HOLD:
case HOLD: case LEARNING:
case LEARNING: case STEERING:
case STEERING: auto_throttle_mode = false;
auto_throttle_mode = false; break;
break;
case AUTO: case AUTO:
auto_throttle_mode = true; auto_throttle_mode = true;
rtl_complete = false; rtl_complete = false;
restart_nav(); restart_nav();
break; break;
case RTL: case RTL:
auto_throttle_mode = true; auto_throttle_mode = true;
do_RTL(); do_RTL();
break; break;
case GUIDED: case GUIDED:
auto_throttle_mode = true; auto_throttle_mode = true;
rtl_complete = false; rtl_complete = false;
/* /*
when entering guided mode we set the target as the current when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code. location. This matches the behaviour of the copter code.
*/ */
guided_WP = current_loc; guided_WP = current_loc;
set_guided_WP(); set_guided_WP();
break; break;
default: default:
auto_throttle_mode = true; auto_throttle_mode = true;
do_RTL(); do_RTL();
break; break;
} }
if (should_log(MASK_LOG_MODE)) { if (should_log(MASK_LOG_MODE)) {
DataFlash.Log_Write_Mode(control_mode); DataFlash.Log_Write_Mode(control_mode);
} }
} }
@ -388,15 +388,15 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void) void Rover::startup_INS_ground(void)
{ {
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC"); gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
mavlink_delay(500); mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!! // Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// ----------------------- // -----------------------
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle"); gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
mavlink_delay(1000); mavlink_delay(1000);
ahrs.init(); ahrs.init();
ahrs.set_fly_forward(true); ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND); ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ins.init(scheduler.get_loop_rate_hz()); ins.init(scheduler.get_loop_rate_hz());
@ -411,9 +411,9 @@ void Rover::update_notify()
} }
void Rover::resetPerfData(void) { void Rover::resetPerfData(void) {
mainLoop_count = 0; mainLoop_count = 0;
G_Dt_max = 0; G_Dt_max = 0;
perf_mon_timer = millis(); perf_mon_timer = millis();
} }