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Copter: minor formatting fixes

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No functional change
This commit is contained in:
Randy Mackay 2016-10-10 12:11:14 +09:00
parent 61fa73f25d
commit 3b6e56d1a0
1 changed files with 13 additions and 9 deletions
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22
ArduCopter/flight_mode.cpp
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@ -26,7 +26,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
return true; return true;
} }
switch(mode) { switch (mode) {
case ACRO: case ACRO:
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
success = heli_acro_init(ignore_checks); success = heli_acro_init(ignore_checks);
@ -141,7 +141,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
frsky_telemetry.update_control_mode(control_mode); frsky_telemetry.update_control_mode(control_mode);
#endif #endif
}else{ } else {
// Log error that we failed to enter desired flight mode // Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
} }
@ -301,8 +301,9 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
} }
// returns true or false whether mode requires GPS // returns true or false whether mode requires GPS
bool Copter::mode_requires_GPS(control_mode_t mode) { bool Copter::mode_requires_GPS(control_mode_t mode)
switch(mode) { {
switch (mode) {
case AUTO: case AUTO:
case GUIDED: case GUIDED:
case LOITER: case LOITER:
@ -320,8 +321,9 @@ bool Copter::mode_requires_GPS(control_mode_t mode) {
} }
// mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle) // mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
bool Copter::mode_has_manual_throttle(control_mode_t mode) { bool Copter::mode_has_manual_throttle(control_mode_t mode)
switch(mode) { {
switch (mode) {
case ACRO: case ACRO:
case STABILIZE: case STABILIZE:
return true; return true;
@ -332,7 +334,8 @@ bool Copter::mode_has_manual_throttle(control_mode_t mode) {
// mode_allows_arming - returns true if vehicle can be armed in the specified mode // mode_allows_arming - returns true if vehicle can be armed in the specified mode
// arming_from_gcs should be set to true if the arming request comes from the ground station // arming_from_gcs should be set to true if the arming request comes from the ground station
bool Copter::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) { bool Copter::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
{
if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && (mode == GUIDED || mode == GUIDED_NOGPS))) { if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && (mode == GUIDED || mode == GUIDED_NOGPS))) {
return true; return true;
} }
@ -340,8 +343,9 @@ bool Copter::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) {
} }
// notify_flight_mode - sets notify object based on flight mode. Only used for OreoLED notify device // notify_flight_mode - sets notify object based on flight mode. Only used for OreoLED notify device
void Copter::notify_flight_mode(control_mode_t mode) { void Copter::notify_flight_mode(control_mode_t mode)
switch(mode) { {
switch (mode) {
case AUTO: case AUTO:
case GUIDED: case GUIDED:
case RTL: case RTL: