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Rover: correct indentation and style on GCS_Mavlink 

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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101
APMrover2/GCS_Mavlink.cpp
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@ -43,7 +43,7 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
break;
}
#if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING==ENABLED)
#if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING == ENABLED)
if (control_mode != INITIALISING) {
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
@ -485,8 +485,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
break; // just here to prevent a warning
}
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 HIL_MODE != HIL_MODE_DISABLED
@ -613,14 +613,18 @@ GCS_MAVLINK_Rover::data_stream_send(void)
return;
}
if (rover.gcs_out_of_time) return;
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
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)) {
send_message(MSG_EXTENDED_STATUS1);
@ -630,7 +634,9 @@ GCS_MAVLINK_Rover::data_stream_send(void)
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)) {
// sent with GPS read
@ -638,20 +644,26 @@ GCS_MAVLINK_Rover::data_stream_send(void)
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)) {
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)) {
send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN);
}
if (rover.gcs_out_of_time) return;
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA1)) {
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)) {
send_message(MSG_VFR_HUD);
}
if (rover.gcs_out_of_time) return;
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
@ -725,7 +741,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
mavlink_statustext_t packet;
mavlink_msg_statustext_decode(msg, &packet);
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'};
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G', 'C', 'S', ':'};
memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
rover.DataFlash.Log_Write_Message(text);
break;
@ -737,7 +753,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
mavlink_msg_command_int_decode(msg, &packet);
uint8_t result = MAV_RESULT_UNSUPPORTED;
switch(packet.command) {
switch (packet.command) {
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
@ -789,7 +805,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// do command
switch(packet.command) {
switch (packet.command) {
case MAV_CMD_START_RX_PAIR:
result = handle_rc_bind(packet);
@ -863,11 +879,11 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
if(hal.util->get_soft_armed()) {
if (hal.util->get_soft_armed()) {
result = MAV_RESULT_FAILED;
break;
}
if (is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1, 1.0f)) {
rover.ins.init_gyro();
if (rover.ins.gyro_calibrated_ok_all()) {
rover.ahrs.reset_gyro_drift();
@ -875,13 +891,13 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_equal(packet.param3,1.0f)) {
} else if (is_equal(packet.param3, 1.0f)) {
rover.init_barometer(false);
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param4,1.0f)) {
} else if (is_equal(packet.param4, 1.0f)) {
rover.trim_radio();
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param5,1.0f)) {
} else if (is_equal(packet.param5, 1.0f)) {
result = MAV_RESULT_ACCEPTED;
// start with gyro calibration
rover.ins.init_gyro();
@ -894,20 +910,19 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
rover.ins.acal_init();
rover.ins.get_acal()->start(this);
} else if (is_equal(packet.param5,2.0f)) {
} else if (is_equal(packet.param5, 2.0f)) {
// start with gyro calibration
rover.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
if (rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
else {
} else {
send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
}
break;
@ -979,15 +994,15 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
if (is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
hal.scheduler->reboot(is_equal(packet.param1, 3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
@ -1015,7 +1030,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1, 1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
@ -1029,7 +1044,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// param6 : longitude
// param7 : altitude
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1, 1.0f)) {
rover.init_home();
} else {
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
@ -1050,9 +1065,9 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
(double)(new_home_loc.lat * 1.0e-7f),
(double)(new_home_loc.lng * 1.0e-7f),
(uint32_t)(new_home_loc.alt * 0.01f));
}
break;
}
@ -1196,7 +1211,10 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// 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;
int16_t v[8];
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:
{
// 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.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
@ -1360,13 +1381,13 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
#endif // HIL_MODE
#if CAMERA == ENABLED
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
// deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
{
break;
}
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
// deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
{
rover.camera.control_msg(msg);
@ -1376,14 +1397,14 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
// deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
rover.camera_mount.configure_msg(msg);
break;
}
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
// deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
rover.camera_mount.control_msg(msg);
@ -1460,7 +1481,9 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
void Rover::mavlink_delay_cb()
{
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;