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mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 15:38:29 -04:00

AP_Frsky_Telem: added extra parentheses around pointed to values for readability

As suggested by tridge
This commit is contained in:
floaledm 2016-11-01 16:42:15 -05:00 committed by Tom Pittenger
parent 328e6d6886
commit 68b10979c3

View File

@ -112,7 +112,7 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
_passthrough.params_timer = AP_HAL::millis();
return;
} else if ((now - _passthrough.ap_status_timer) > 500) {
if ((*_ap.valuep & AP_INITIALIZED_FLAG) > 0) { // send ap status only once vehicle has been initialised
if (((*_ap.valuep) & AP_INITIALIZED_FLAG) > 0) { // send ap status only once vehicle has been initialised
send_uint32(DIY_FIRST_ID+1, calc_ap_status());
_passthrough.ap_status_timer = AP_HAL::millis();
}
@ -572,12 +572,12 @@ uint32_t AP_Frsky_Telem::calc_param(void)
break;
case 2:
if (_params.fs_batt_voltage != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_voltage * 100.0f); // battery failsafe voltage in centivolts
param = (uint32_t)roundf((*_params.fs_batt_voltage) * 100.0f); // battery failsafe voltage in centivolts
}
break;
case 3:
if (_params.fs_batt_mah != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_mah); // battery failsafe capacity in mAh
param = (uint32_t)roundf((*_params.fs_batt_mah)); // battery failsafe capacity in mAh
}
break;
case 4:
@ -600,20 +600,20 @@ uint32_t AP_Frsky_Telem::calc_gps_latlng(bool *send_latitude)
const Location &loc = _ahrs.get_gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
// alternate between latitude and longitude
if (*send_latitude == true) {
if ((*send_latitude) == true) {
if (loc.lat < 0) {
latlng = ((abs(loc.lat)/100)*6) | 0x40000000;
} else {
latlng = ((abs(loc.lat)/100)*6);
}
*send_latitude = false;
(*send_latitude) = false;
} else {
if (loc.lng < 0) {
latlng = ((abs(loc.lng)/100)*6) | 0xC0000000;
} else {
latlng = ((abs(loc.lng)/100)*6) | 0x80000000;
}
*send_latitude = true;
(*send_latitude) = true;
}
return latlng;
}
@ -668,9 +668,9 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
// control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.valuep & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag which is the inverse of the land_complete flag
ap_status |= (uint8_t)((*_ap.valuep & AP_LANDCOMPLETE_FLAG) ^ AP_LANDCOMPLETE_FLAG);
ap_status |= (uint8_t)((*_ap.valuep) & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag
ap_status |= (uint8_t)(((*_ap.valuep) & AP_LANDCOMPLETE_FLAG) ^ AP_LANDCOMPLETE_FLAG);
// armed flag
ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET;
// battery failsafe flag