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Rover: control_modes.cpp correct whitespace, remove tabs

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This commit is contained in:
Pierre Kancir 2016-12-20 14:32:57 +01:00 committed by Randy Mackay
parent 597423fffc
commit 5232dce268
1 changed files with 64 additions and 53 deletions
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35
APMrover2/control_modes.cpp
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@ -7,7 +7,9 @@ void Rover::read_control_switch()
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (switchPosition == 255) {
return;
}
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
@ -23,7 +25,6 @@ void Rover::read_control_switch()
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
@ -43,17 +44,28 @@ void Rover::read_control_switch()
}
switch_debouncer = false;
}
uint8_t Rover::readSwitch(void) {
uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
if (pulsewidth <= 1230) return 0;
if (pulsewidth <= 1360) return 1;
if (pulsewidth <= 1490) return 2;
if (pulsewidth <= 1620) return 3;
if (pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth <= 900 || pulsewidth >= 2200) {
return 255; // This is an error condition
}
if (pulsewidth <= 1230) {
return 0;
}
if (pulsewidth <= 1360) {
return 1;
}
if (pulsewidth <= 1490) {
return 2;
}
if (pulsewidth <= 1620) {
return 3;
}
if (pulsewidth <= 1749) {
return 4; // Software Manual
}
return 5; // Hardware Manual
}
@ -89,7 +101,7 @@ void Rover::read_trim_switch()
// if roll is full right store the current location as home
init_home();
}
return;
break;
case LEARNING:
case STEERING: {
@ -107,10 +119,9 @@ void Rover::read_trim_switch()
// save command
if (mission.add_cmd(cmd)) {
hal.console->printf("Learning waypoint %u", (unsigned) mission.num_commands());
}
}
break;
}
case AUTO:
// if SW7 is ON in AUTO = set to RTL
set_mode(RTL);