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Rover: White space is tab code 

Rover: White space is tab code
This commit is contained in:
murata 2020-02-06 00:29:36 +09:00 committed by Randy Mackay
parent 2ab124223a
commit 4ca34ea448
1 changed files with 24 additions and 24 deletions
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48
APMrover2/fence.cpp
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@ -20,30 +20,30 @@ void Rover::fence_check()
if (g2.fence.get_action() != Failsafe_Action_None) {
// if within 100m of the fence, it will take the action specified by the FENCE_ACTION parameter
if (g2.fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
switch (g2.fence.get_action()) {
case Failsafe_Action_None:
break;
case Failsafe_Action_RTL:
if (!set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
case Failsafe_Action_Hold:
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
break;
case Failsafe_Action_SmartRTL:
if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
if (!set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
}
break;
case Failsafe_Action_SmartRTL_Hold:
if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
}
switch (g2.fence.get_action()) {
case Failsafe_Action_None:
break;
case Failsafe_Action_RTL:
if (!set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
case Failsafe_Action_Hold:
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
break;
case Failsafe_Action_SmartRTL:
if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
if (!set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
}
break;
case Failsafe_Action_SmartRTL_Hold:
if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
}
break;
}
} else {
// if more than 100m outside the fence just force to HOLD
set_mode(mode_hold, ModeReason::FENCE_BREACHED);