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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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222
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.
@ -80,14 +80,14 @@ 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();
BoardConfig.init(); BoardConfig.init();
@ -108,11 +108,11 @@ 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
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be. // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true; usb_connected = true;
check_usb_mux(); check_usb_mux();
@ -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();
} }
//******************************************************************************** //********************************************************************************
@ -216,23 +216,23 @@ void Rover::init_ardupilot()
void Rover::startup_ground(void) void Rover::startup_ground(void)
{ {
set_mode(INITIALISING); set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0) gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000);
#endif
//IMU ground start #if(GROUND_START_DELAY > 0)
//------------------------ gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000);
#endif
//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");
} }
/* /*
@ -256,23 +256,24 @@ void Rover::set_reverse(bool reverse)
if (in_reverse == reverse) { if (in_reverse == reverse) {
return; return;
} }
g.pidSpeedThrottle.reset_I(); g.pidSpeedThrottle.reset_I();
in_reverse = reverse; in_reverse = 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);
@ -281,45 +282,44 @@ void Rover::set_mode(enum mode mode)
if (control_mode != AUTO) { if (control_mode != AUTO) {
auto_triggered = false; auto_triggered = false;
} }
switch(control_mode)
{
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
auto_throttle_mode = false;
break;
case AUTO: switch(control_mode) {
auto_throttle_mode = true; case MANUAL:
rtl_complete = false; case HOLD:
restart_nav(); case LEARNING:
break; case STEERING:
auto_throttle_mode = false;
break;
case RTL: case AUTO:
auto_throttle_mode = true; auto_throttle_mode = true;
do_RTL(); rtl_complete = false;
break; restart_nav();
break;
case GUIDED: case RTL:
auto_throttle_mode = true; auto_throttle_mode = true;
rtl_complete = false; do_RTL();
/* break;
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code.
*/
guided_WP = current_loc;
set_guided_WP();
break;
default: case GUIDED:
auto_throttle_mode = true; auto_throttle_mode = true;
do_RTL(); rtl_complete = false;
break; /*
} when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code.
*/
guided_WP = current_loc;
set_guided_WP();
break;
if (should_log(MASK_LOG_MODE)) { default:
auto_throttle_mode = true;
do_RTL();
break;
}
if (should_log(MASK_LOG_MODE)) {
DataFlash.Log_Write_Mode(control_mode); DataFlash.Log_Write_Mode(control_mode);
} }
} }
@ -344,7 +344,7 @@ bool Rover::mavlink_set_mode(uint8_t mode)
} }
/* /*
called to set/unset a failsafe event. called to set/unset a failsafe event.
*/ */
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on) void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
{ {
@ -365,8 +365,8 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
failsafe.triggered &= failsafe.bits; failsafe.triggered &= failsafe.bits;
if (failsafe.triggered == 0 && if (failsafe.triggered == 0 &&
failsafe.bits != 0 && failsafe.bits != 0 &&
millis() - failsafe.start_time > g.fs_timeout*1000 && millis() - failsafe.start_time > g.fs_timeout*1000 &&
control_mode != RTL && control_mode != RTL &&
control_mode != HOLD) { control_mode != HOLD) {
@ -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();
} }