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AP_InertialSensor: minor formatting fixes

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No functional change
This commit is contained in:
murata 2016-12-24 12:21:29 +09:00 committed by Randy Mackay
parent 6045612011
commit 398b7b83dd
1 changed files with 16 additions and 9 deletions
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25
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -495,8 +495,9 @@ AP_InertialSensor::AP_InertialSensor() :
*/ */
AP_InertialSensor *AP_InertialSensor::get_instance() AP_InertialSensor *AP_InertialSensor::get_instance()
{ {
if (!_s_instance) if (!_s_instance) {
_s_instance = new AP_InertialSensor(); _s_instance = new AP_InertialSensor();
}
return _s_instance; return _s_instance;
} }
@ -594,8 +595,9 @@ AP_InertialSensor_Backend *AP_InertialSensor::_find_backend(int16_t backend_id,
for (uint8_t i = 0; i < _backend_count; i++) { for (uint8_t i = 0; i < _backend_count; i++) {
int16_t id = _backends[i]->get_id(); int16_t id = _backends[i]->get_id();
if (id < 0 || id != backend_id) if (id < 0 || id != backend_id) {
continue; continue;
}
if (instance == found) { if (instance == found) {
return _backends[i]; return _backends[i];
@ -642,10 +644,12 @@ AP_InertialSensor::init(uint16_t sample_rate)
bool AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *backend) bool AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *backend)
{ {
if (!backend) if (!backend) {
return false; return false;
if (_backend_count == INS_MAX_BACKENDS) }
if (_backend_count == INS_MAX_BACKENDS) {
AP_HAL::panic("Too many INS backends"); AP_HAL::panic("Too many INS backends");
}
_backends[_backend_count++] = backend; _backends[_backend_count++] = backend;
return true; return true;
} }
@ -656,8 +660,9 @@ bool AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *backend)
void void
AP_InertialSensor::detect_backends(void) AP_InertialSensor::detect_backends(void)
{ {
if (_backends_detected) if (_backends_detected) {
return; return;
}
_backends_detected = true; _backends_detected = true;
@ -923,8 +928,9 @@ failed:
bool AP_InertialSensor::accel_calibrated_ok_all() const bool AP_InertialSensor::accel_calibrated_ok_all() const
{ {
// calibration is not applicable for HIL mode // calibration is not applicable for HIL mode
if (_hil_mode) if (_hil_mode) {
return true; return true;
}
// check each accelerometer has offsets saved // check each accelerometer has offsets saved
for (uint8_t i=0; i<get_accel_count(); i++) { for (uint8_t i=0; i<get_accel_count(); i++) {
@ -1473,8 +1479,9 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id, uint8_t i
detect_backends(); detect_backends();
AP_InertialSensor_Backend *backend = _find_backend(backend_id, instance); AP_InertialSensor_Backend *backend = _find_backend(backend_id, instance);
if (backend == nullptr) if (backend == nullptr) {
return nullptr; return nullptr;
}
return backend->get_auxiliary_bus(); return backend->get_auxiliary_bus();
} }
@ -1678,7 +1685,7 @@ bool AP_InertialSensor::get_primary_accel_cal_sample_avg(uint8_t sample_num, Vec
{ {
uint8_t count = 0; uint8_t count = 0;
Vector3f avg = Vector3f(0,0,0); Vector3f avg = Vector3f(0,0,0);
for(uint8_t i=0; i<MIN(_accel_count,2); i++) { for (uint8_t i=0; i<MIN(_accel_count,2); i++) {
if (_accel_calibrator[i].get_status() != ACCEL_CAL_SUCCESS || sample_num>=_accel_calibrator[i].get_num_samples_collected()) { if (_accel_calibrator[i].get_status() != ACCEL_CAL_SUCCESS || sample_num>=_accel_calibrator[i].get_num_samples_collected()) {
continue; continue;
} }
@ -1687,7 +1694,7 @@ bool AP_InertialSensor::get_primary_accel_cal_sample_avg(uint8_t sample_num, Vec
avg += sample; avg += sample;
count++; count++;
} }
if(count == 0) { if (count == 0) {
return false; return false;
} }
avg /= count; avg /= count;