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Copter: format fixes to switches.cpp 

No functional change
This commit is contained in:
Randy Mackay 2016-12-19 11:19:03 +09:00
parent a43229de0f
commit 70feff487e
1 changed files with 20 additions and 20 deletions
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40
ArduCopter/switches.cpp
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@ -27,7 +27,7 @@ void Copter::read_control_switch()
else switch_position = 5; else switch_position = 5;
// store time that switch last moved // 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; 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 // if none of the Aux Switches are set to Simple or Super Simple Mode then
// set Simple Mode using stored parameters from EEPROM // set Simple Mode using stored parameters from EEPROM
if (BIT_IS_SET(g.super_simple, switch_position)) { if (BIT_IS_SET(g.super_simple, switch_position)) {
set_simple_mode(2); set_simple_mode(2);
}else{ } else {
set_simple_mode(BIT_IS_SET(g.simple_modes, switch_position)); 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) { switch(ch_function) {
case AUXSW_FLIP: case AUXSW_FLIP:
// flip if switch is on, positive throttle and we're actually flying // 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); set_mode(FLIP, MODE_REASON_TX_COMMAND);
} }
break; 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) { if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode) // engage RTL (if not possible we remain in current flight mode)
set_mode(RTL, MODE_REASON_TX_COMMAND); set_mode(RTL, MODE_REASON_TX_COMMAND);
}else{ } else {
// return to flight mode switch's flight mode if we are currently in RTL // return to flight mode switch's flight mode if we are currently in RTL
if (control_mode == RTL) { if (control_mode == RTL) {
reset_control_switch(); 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) { if (ch_flag == AUX_SWITCH_HIGH) {
// do not allow saving new waypoints while we're in auto or disarmed // 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; return;
} }
// do not allow saving the first waypoint with zero throttle // 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; return;
} }
@ -255,7 +255,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
AP_Mission::Mission_Command cmd = {}; AP_Mission::Mission_Command cmd = {};
// if the mission is empty save a takeoff command // 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 // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
cmd.id = MAV_CMD_NAV_TAKEOFF; cmd.id = MAV_CMD_NAV_TAKEOFF;
cmd.content.location.options = 0; 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. // use the current altitude for the target alt for takeoff.
// only altitude will matter to the AP mission script 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 event
Log_Write_Event(DATA_SAVEWP_ADD_WP); 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; cmd.content.location = current_loc;
// if throttle is above zero, create waypoint command // 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; cmd.id = MAV_CMD_NAV_WAYPOINT;
}else{ } else {
// with zero throttle, create LAND command // with zero throttle, create LAND command
cmd.id = MAV_CMD_NAV_LAND; cmd.id = MAV_CMD_NAV_LAND;
} }
// save command // save command
if(mission.add_cmd(cmd)) { if (mission.add_cmd(cmd)) {
// log event // log event
Log_Write_Event(DATA_SAVEWP_ADD_WP); 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 RANGEFINDER_ENABLED == ENABLED
if ((ch_flag == AUX_SWITCH_HIGH) && (rangefinder.num_sensors() >= 1)) { if ((ch_flag == AUX_SWITCH_HIGH) && (rangefinder.num_sensors() >= 1)) {
rangefinder_state.enabled = true; rangefinder_state.enabled = true;
}else{ } else {
rangefinder_state.enabled = false; rangefinder_state.enabled = false;
} }
#endif #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) { if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true); fence.enable(true);
Log_Write_Event(DATA_FENCE_ENABLE); Log_Write_Event(DATA_FENCE_ENABLE);
}else{ } else {
fence.enable(false); fence.enable(false);
Log_Write_Event(DATA_FENCE_DISABLE); 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: case AUXSW_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) { if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO, MODE_REASON_TX_COMMAND); set_mode(AUTO, MODE_REASON_TX_COMMAND);
}else{ } else {
// return to flight mode switch's flight mode if we are currently in AUTO // return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) { if (control_mode == AUTO) {
reset_control_switch(); reset_control_switch();
@ -394,7 +394,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUXSW_LAND: case AUXSW_LAND:
if (ch_flag == AUX_SWITCH_HIGH) { if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(LAND, MODE_REASON_TX_COMMAND); set_mode(LAND, MODE_REASON_TX_COMMAND);
}else{ } else {
// return to flight mode switch's flight mode if we are currently in LAND // return to flight mode switch's flight mode if we are currently in LAND
if (control_mode == LAND) { if (control_mode == LAND) {
reset_control_switch(); reset_control_switch();
@ -518,7 +518,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
// brake flight mode // brake flight mode
if (ch_flag == AUX_SWITCH_HIGH) { if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(BRAKE, MODE_REASON_TX_COMMAND); set_mode(BRAKE, MODE_REASON_TX_COMMAND);
}else{ } else {
// return to flight mode switch's flight mode if we are currently in BRAKE // return to flight mode switch's flight mode if we are currently in BRAKE
if (control_mode == BRAKE) { if (control_mode == BRAKE) {
reset_control_switch(); 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) { if (ch_flag == AUX_SWITCH_HIGH) {
avoidance_adsb.enable(); avoidance_adsb.enable();
Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE); Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
}else{ } else {
avoidance_adsb.disable(); avoidance_adsb.disable();
Log_Write_Event(DATA_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 // meant to be called continuously while the pilot attempts to keep the copter level
void Copter::auto_trim() void Copter::auto_trim()
{ {
if(auto_trim_counter > 0) { if (auto_trim_counter > 0) {
auto_trim_counter--; auto_trim_counter--;
// flash the leds // flash the leds
@ -597,7 +597,7 @@ void Copter::auto_trim()
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0)); ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal // 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; AP_Notify::flags.save_trim = false;
} }
} }