diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp index ab72e17812..df05477ed6 100644 --- a/ArduCopter/switches.cpp +++ b/ArduCopter/switches.cpp @@ -27,7 +27,7 @@ void Copter::read_control_switch() else switch_position = 5; // store time that switch last moved - if(control_switch_state.last_switch_position != switch_position) { + if (control_switch_state.last_switch_position != switch_position) { control_switch_state.last_edge_time_ms = tnow_ms; } @@ -47,12 +47,12 @@ void Copter::read_control_switch() } } - if(!check_if_auxsw_mode_used(AUXSW_SIMPLE_MODE) && !check_if_auxsw_mode_used(AUXSW_SUPERSIMPLE_MODE)) { + if (!check_if_auxsw_mode_used(AUXSW_SIMPLE_MODE) && !check_if_auxsw_mode_used(AUXSW_SUPERSIMPLE_MODE)) { // if none of the Aux Switches are set to Simple or Super Simple Mode then // set Simple Mode using stored parameters from EEPROM if (BIT_IS_SET(g.super_simple, switch_position)) { set_simple_mode(2); - }else{ + } else { set_simple_mode(BIT_IS_SET(g.simple_modes, switch_position)); } } @@ -204,7 +204,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) switch(ch_function) { case AUXSW_FLIP: // flip if switch is on, positive throttle and we're actually flying - if(ch_flag == AUX_SWITCH_HIGH) { + if (ch_flag == AUX_SWITCH_HIGH) { set_mode(FLIP, MODE_REASON_TX_COMMAND); } break; @@ -223,7 +223,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) if (ch_flag == AUX_SWITCH_HIGH) { // engage RTL (if not possible we remain in current flight mode) set_mode(RTL, MODE_REASON_TX_COMMAND); - }else{ + } else { // return to flight mode switch's flight mode if we are currently in RTL if (control_mode == RTL) { reset_control_switch(); @@ -242,12 +242,12 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) if (ch_flag == AUX_SWITCH_HIGH) { // do not allow saving new waypoints while we're in auto or disarmed - if(control_mode == AUTO || !motors.armed()) { + if (control_mode == AUTO || !motors.armed()) { return; } // do not allow saving the first waypoint with zero throttle - if((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)){ + if ((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)) { return; } @@ -255,7 +255,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) AP_Mission::Mission_Command cmd = {}; // if the mission is empty save a takeoff command - if(mission.num_commands() == 0) { + if (mission.num_commands() == 0) { // set our location ID to 16, MAV_CMD_NAV_WAYPOINT cmd.id = MAV_CMD_NAV_TAKEOFF; cmd.content.location.options = 0; @@ -266,7 +266,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) // use the current altitude for the target alt for takeoff. // only altitude will matter to the AP mission script for takeoff. - if(mission.add_cmd(cmd)) { + if (mission.add_cmd(cmd)) { // log event Log_Write_Event(DATA_SAVEWP_ADD_WP); } @@ -276,15 +276,15 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) cmd.content.location = current_loc; // if throttle is above zero, create waypoint command - if(channel_throttle->get_control_in() > 0) { + if (channel_throttle->get_control_in() > 0) { cmd.id = MAV_CMD_NAV_WAYPOINT; - }else{ + } else { // with zero throttle, create LAND command cmd.id = MAV_CMD_NAV_LAND; } // save command - if(mission.add_cmd(cmd)) { + if (mission.add_cmd(cmd)) { // log event Log_Write_Event(DATA_SAVEWP_ADD_WP); } @@ -304,7 +304,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) #if RANGEFINDER_ENABLED == ENABLED if ((ch_flag == AUX_SWITCH_HIGH) && (rangefinder.num_sensors() >= 1)) { rangefinder_state.enabled = true; - }else{ + } else { rangefinder_state.enabled = false; } #endif @@ -316,7 +316,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) if (ch_flag == AUX_SWITCH_HIGH) { fence.enable(true); Log_Write_Event(DATA_FENCE_ENABLE); - }else{ + } else { fence.enable(false); Log_Write_Event(DATA_FENCE_DISABLE); } @@ -364,7 +364,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) case AUXSW_AUTO: if (ch_flag == AUX_SWITCH_HIGH) { set_mode(AUTO, MODE_REASON_TX_COMMAND); - }else{ + } else { // return to flight mode switch's flight mode if we are currently in AUTO if (control_mode == AUTO) { reset_control_switch(); @@ -394,7 +394,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) case AUXSW_LAND: if (ch_flag == AUX_SWITCH_HIGH) { set_mode(LAND, MODE_REASON_TX_COMMAND); - }else{ + } else { // return to flight mode switch's flight mode if we are currently in LAND if (control_mode == LAND) { reset_control_switch(); @@ -518,7 +518,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) // brake flight mode if (ch_flag == AUX_SWITCH_HIGH) { set_mode(BRAKE, MODE_REASON_TX_COMMAND); - }else{ + } else { // return to flight mode switch's flight mode if we are currently in BRAKE if (control_mode == BRAKE) { reset_control_switch(); @@ -543,7 +543,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) if (ch_flag == AUX_SWITCH_HIGH) { avoidance_adsb.enable(); Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE); - }else{ + } else { avoidance_adsb.disable(); Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE); } @@ -580,7 +580,7 @@ void Copter::save_trim() // meant to be called continuously while the pilot attempts to keep the copter level void Copter::auto_trim() { - if(auto_trim_counter > 0) { + if (auto_trim_counter > 0) { auto_trim_counter--; // flash the leds @@ -597,7 +597,7 @@ void Copter::auto_trim() ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0)); // on last iteration restore leds and accel gains to normal - if(auto_trim_counter == 0) { + if (auto_trim_counter == 0) { AP_Notify::flags.save_trim = false; } }