mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
APMrover2: fix indentation leading to compiler warning
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
parent
7af888633d
commit
368a72044c
@ -1,8 +1,8 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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*****************************************************************************/
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@ -14,26 +14,26 @@ The init_ardupilot function processes everything we need for an in - air restart
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// This is the help function
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int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("Commands:\n"
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n");
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return(0);
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cliSerial->printf("Commands:\n"
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" logs log readback/setup mode\n"
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" setup setup mode\n"
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" test test mode\n"
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"\n"
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"Move the slide switch and reset to FLY.\n"
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"\n");
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return(0);
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}
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// Command/function table for the top-level menu.
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static const struct Menu::command main_menu_commands[] = {
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// command function called
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// command function called
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// ======= ===============
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{"logs", MENU_FUNC(process_logs)},
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{"setup", MENU_FUNC(setup_mode)},
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{"test", MENU_FUNC(test_mode)},
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{"logs", MENU_FUNC(process_logs)},
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{"setup", MENU_FUNC(setup_mode)},
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{"test", MENU_FUNC(test_mode)},
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{"reboot", MENU_FUNC(reboot_board)},
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{"help", MENU_FUNC(main_menu_help)}
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{"help", MENU_FUNC(main_menu_help)}
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};
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// Create the top-level menu object.
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@ -80,14 +80,14 @@ void Rover::init_ardupilot()
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// initialise console serial port
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serial_manager.init_console();
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cliSerial->printf("\n\nInit " FIRMWARE_STRING
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"\n\nFree RAM: %u\n",
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hal.util->available_memory());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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cliSerial->printf("\n\nInit " FIRMWARE_STRING
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"\n\nFree RAM: %u\n",
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hal.util->available_memory());
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//
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// Check the EEPROM format version before loading any parameters from EEPROM.
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//
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load_parameters();
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BoardConfig.init();
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@ -108,11 +108,11 @@ void Rover::init_ardupilot()
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// init the GCS
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// init the GCS
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gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
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// we start by assuming USB connected, as we initialed the serial
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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usb_connected = true;
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check_usb_mux();
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@ -130,7 +130,7 @@ void Rover::init_ardupilot()
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frsky_telemetry.init(serial_manager);
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#endif
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mavlink_system.sysid = g.sysid_this_mav;
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mavlink_system.sysid = g.sysid_this_mav;
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#if LOGGING_ENABLED == ENABLED
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log_init();
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@ -142,29 +142,29 @@ void Rover::init_ardupilot()
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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if (g.compass_enabled==true) {
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if (!compass.init()|| !compass.read()) {
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if (g.compass_enabled==true) {
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if (!compass.init()|| !compass.read()) {
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cliSerial->println("Compass initialisation failed!");
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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//compass.get_offsets(); // load offsets to account for airframe magnetic interference
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//compass.get_offsets(); // load offsets to account for airframe magnetic interference
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}
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}
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}
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// initialise sonar
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// initialise sonar
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init_sonar();
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// and baro for EKF
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init_barometer();
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// Do GPS init
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// Do GPS init
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gps.init(&DataFlash, serial_manager);
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rc_override_active = hal.rcin->set_overrides(rc_override, 8);
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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relay.init();
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@ -181,12 +181,12 @@ void Rover::init_ardupilot()
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#if CLI_ENABLED == ENABLED
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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// If the switch is in 'menu' mode, run the main menu.
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//
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// Since we can't be sure that the setup or test mode won't leave
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// the system in an odd state, we don't let the user exit the top
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// menu; they must reset in order to fly.
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//
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if (g.cli_enabled == 1) {
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const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
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cliSerial->println(msg);
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@ -199,15 +199,15 @@ void Rover::init_ardupilot()
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}
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#endif
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init_capabilities();
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init_capabilities();
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startup_ground();
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startup_ground();
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set_mode((enum mode)g.initial_mode.get());
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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// set the correct flight mode
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// ---------------------------
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reset_control_switch();
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}
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//********************************************************************************
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@ -216,23 +216,23 @@ void Rover::init_ardupilot()
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void Rover::startup_ground(void)
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{
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set_mode(INITIALISING);
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gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
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#if(GROUND_START_DELAY > 0)
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gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
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delay(GROUND_START_DELAY * 1000);
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#endif
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gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
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//IMU ground start
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//------------------------
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#if(GROUND_START_DELAY > 0)
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gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
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delay(GROUND_START_DELAY * 1000);
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#endif
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//IMU ground start
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//------------------------
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//
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startup_INS_ground();
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startup_INS_ground();
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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// initialise mission library
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mission.init();
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@ -244,7 +244,7 @@ void Rover::startup_ground(void)
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ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
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ins.set_dataflash(&DataFlash);
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gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
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gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
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}
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/*
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@ -256,23 +256,24 @@ void Rover::set_reverse(bool reverse)
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if (in_reverse == reverse) {
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return;
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}
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g.pidSpeedThrottle.reset_I();
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g.pidSpeedThrottle.reset_I();
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in_reverse = reverse;
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}
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void Rover::set_mode(enum mode mode)
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{
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{
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if(control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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if (control_mode == mode){
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// don't switch modes if we are already in the correct mode.
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return;
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}
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// If we are changing out of AUTO mode reset the loiter timer
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if (control_mode == AUTO)
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if (control_mode == AUTO) {
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loiter_time = 0;
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}
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control_mode = mode;
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control_mode = mode;
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throttle_last = 0;
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throttle = 500;
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set_reverse(false);
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@ -281,45 +282,44 @@ void Rover::set_mode(enum mode mode)
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if (control_mode != AUTO) {
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auto_triggered = false;
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}
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switch(control_mode)
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{
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case MANUAL:
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case HOLD:
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case LEARNING:
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case STEERING:
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auto_throttle_mode = false;
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break;
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case AUTO:
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auto_throttle_mode = true;
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rtl_complete = false;
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restart_nav();
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break;
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switch(control_mode) {
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case MANUAL:
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case HOLD:
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case LEARNING:
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case STEERING:
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auto_throttle_mode = false;
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break;
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case RTL:
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auto_throttle_mode = true;
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do_RTL();
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break;
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case AUTO:
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auto_throttle_mode = true;
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rtl_complete = false;
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restart_nav();
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break;
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case GUIDED:
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auto_throttle_mode = true;
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rtl_complete = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code.
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*/
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guided_WP = current_loc;
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set_guided_WP();
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break;
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case RTL:
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auto_throttle_mode = true;
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do_RTL();
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break;
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default:
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auto_throttle_mode = true;
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do_RTL();
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break;
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}
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case GUIDED:
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auto_throttle_mode = true;
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rtl_complete = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code.
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*/
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guided_WP = current_loc;
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set_guided_WP();
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break;
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if (should_log(MASK_LOG_MODE)) {
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default:
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auto_throttle_mode = true;
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do_RTL();
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break;
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}
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if (should_log(MASK_LOG_MODE)) {
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DataFlash.Log_Write_Mode(control_mode);
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}
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}
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@ -344,7 +344,7 @@ bool Rover::mavlink_set_mode(uint8_t mode)
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}
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/*
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called to set/unset a failsafe event.
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called to set/unset a failsafe event.
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*/
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void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
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{
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@ -365,8 +365,8 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
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failsafe.triggered &= failsafe.bits;
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if (failsafe.triggered == 0 &&
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failsafe.bits != 0 &&
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if (failsafe.triggered == 0 &&
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failsafe.bits != 0 &&
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millis() - failsafe.start_time > g.fs_timeout*1000 &&
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control_mode != RTL &&
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control_mode != HOLD) {
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@ -388,15 +388,15 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
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void Rover::startup_INS_ground(void)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
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mavlink_delay(500);
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mavlink_delay(500);
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// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
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// -----------------------
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// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
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// -----------------------
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gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
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mavlink_delay(1000);
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mavlink_delay(1000);
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_fly_forward(true);
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ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
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ins.init(scheduler.get_loop_rate_hz());
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@ -411,9 +411,9 @@ void Rover::update_notify()
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}
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void Rover::resetPerfData(void) {
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mainLoop_count = 0;
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G_Dt_max = 0;
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perf_mon_timer = millis();
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mainLoop_count = 0;
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G_Dt_max = 0;
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perf_mon_timer = millis();
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}
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