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Rover: correct indentation and style on GCS_Mavlink

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Remove trailling whitespace, tabs, limit single line if-statement scope, add missing space
This commit is contained in:
Pierre Kancir 2016-11-23 18:13:56 +01:00 committed by Grant Morphett
parent 326e0f224f
commit 5ed9d22bf6
1 changed files with 119 additions and 96 deletions
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55
APMrover2/GCS_Mavlink.cpp
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@ -485,8 +485,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
break; // just here to prevent a warning break; // just here to prevent a warning
} }
return true; return true;
} }
@ -595,7 +593,9 @@ GCS_MAVLINK_Rover::data_stream_send(void)
} }
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (rover.in_mavlink_delay) { if (rover.in_mavlink_delay) {
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
@ -613,14 +613,18 @@ GCS_MAVLINK_Rover::data_stream_send(void)
return; return;
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) { if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1); send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU3); send_message(MSG_RAW_IMU3);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTENDED_STATUS)) { if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1); send_message(MSG_EXTENDED_STATUS1);
@ -630,7 +634,9 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_NAV_CONTROLLER_OUTPUT); send_message(MSG_NAV_CONTROLLER_OUTPUT);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_POSITION)) { if (stream_trigger(STREAM_POSITION)) {
// sent with GPS read // sent with GPS read
@ -638,20 +644,26 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_LOCAL_POSITION); send_message(MSG_LOCAL_POSITION);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RAW_CONTROLLER)) { if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT); send_message(MSG_SERVO_OUT);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RC_CHANNELS)) { if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT); send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN); send_message(MSG_RADIO_IN);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA1)) { if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE); send_message(MSG_ATTITUDE);
@ -661,13 +673,17 @@ GCS_MAVLINK_Rover::data_stream_send(void)
} }
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA2)) { if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD); send_message(MSG_VFR_HUD);
} }
if (rover.gcs_out_of_time) return; if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA3)) { if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS); send_message(MSG_AHRS);
@ -906,8 +922,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
} else { } else {
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;
} }
} } else {
else {
send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration"); send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
} }
break; break;
@ -1196,7 +1211,10 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// allow override of RC channel values for HIL // allow override of RC channel values for HIL
// or for complete GCS control of switch position // or for complete GCS control of switch position
// and RC PWM values. // and RC PWM values.
if(msg->sysid != rover.g.sysid_my_gcs) break; // Only accept control from our gcs if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
mavlink_rc_channels_override_t packet; mavlink_rc_channels_override_t packet;
int16_t v[8]; int16_t v[8];
mavlink_msg_rc_channels_override_decode(msg, &packet); mavlink_msg_rc_channels_override_decode(msg, &packet);
@ -1220,7 +1238,10 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_HEARTBEAT: case MAVLINK_MSG_ID_HEARTBEAT:
{ {
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg->sysid != rover.g.sysid_my_gcs) break; if (msg->sysid != rover.g.sysid_my_gcs) {
break;
}
rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis(); rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false); rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break; break;
@ -1460,7 +1481,9 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
void Rover::mavlink_delay_cb() void Rover::mavlink_delay_cb()
{ {
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) return; if (!gcs[0].initialised || in_mavlink_delay) {
return;
}
in_mavlink_delay = true; in_mavlink_delay = true;