mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduPlane/geofence.pde
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uncrustify
Pat Hickey
parent
4517ca8124
commit
956b101189
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@ -1,19 +1,19 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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geo-fencing support
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Andrew Tridgell, December 2011
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* geo-fencing support
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* Andrew Tridgell, December 2011
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*/
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#if GEOFENCE_ENABLED == ENABLED
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/*
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The state of geo-fencing. This structure is dynamically allocated
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the first time it is used. This means we only pay for the pointer
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and not the structure on systems where geo-fencing is not being
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used.
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We store a copy of the boundary in memory as we need to access it
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very quickly at runtime
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* The state of geo-fencing. This structure is dynamically allocated
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* the first time it is used. This means we only pay for the pointer
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* and not the structure on systems where geo-fencing is not being
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* used.
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*
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* We store a copy of the boundary in memory as we need to access it
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* very quickly at runtime
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*/
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static struct geofence_state {
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uint8_t num_points;
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@ -29,7 +29,7 @@ static struct geofence_state {
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/*
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fence boundaries fetch/store
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* fence boundaries fetch/store
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*/
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static Vector2l get_fence_point_with_index(unsigned i)
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{
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@ -71,7 +71,7 @@ static void set_fence_point_with_index(Vector2l &point, unsigned i)
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}
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/*
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allocate and fill the geofence state structure
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* allocate and fill the geofence state structure
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*/
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static void geofence_load(void)
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{
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@ -116,7 +116,7 @@ failed:
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}
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/*
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return true if geo-fencing is enabled
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* return true if geo-fencing is enabled
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*/
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static bool geofence_enabled(void)
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{
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@ -137,7 +137,7 @@ static bool geofence_enabled(void)
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/*
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return true if we have breached the geo-fence minimum altiude
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* return true if we have breached the geo-fence minimum altiude
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*/
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static bool geofence_check_minalt(void)
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{
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@ -151,7 +151,7 @@ static bool geofence_check_minalt(void)
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}
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/*
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return true if we have breached the geo-fence maximum altiude
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* return true if we have breached the geo-fence maximum altiude
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*/
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static bool geofence_check_maxalt(void)
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{
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@ -166,7 +166,7 @@ static bool geofence_check_maxalt(void)
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/*
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check if we have breached the geo-fence
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* check if we have breached the geo-fence
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*/
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static void geofence_check(bool altitude_check_only)
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{
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@ -222,9 +222,9 @@ static void geofence_check(bool altitude_check_only)
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// we have moved back inside the fence
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geofence_state->fence_triggered = false;
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gcs_send_text_P(SEVERITY_LOW,PSTR("geo-fence OK"));
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#if FENCE_TRIGGERED_PIN > 0
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#if FENCE_TRIGGERED_PIN > 0
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digitalWrite(FENCE_TRIGGERED_PIN, LOW);
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#endif
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#endif
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gcs_send_message(MSG_FENCE_STATUS);
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}
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// we're inside, all is good with the world
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@ -232,7 +232,7 @@ static void geofence_check(bool altitude_check_only)
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}
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// we are outside the fence
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if (geofence_state->fence_triggered &&
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if (geofence_state->fence_triggered &&
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(control_mode == GUIDED || g.fence_action == FENCE_ACTION_REPORT)) {
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// we have already triggered, don't trigger again until the
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// user disables/re-enables using the fence channel switch
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@ -245,9 +245,9 @@ static void geofence_check(bool altitude_check_only)
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geofence_state->breach_time = millis();
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geofence_state->breach_type = breach_type;
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#if FENCE_TRIGGERED_PIN > 0
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#if FENCE_TRIGGERED_PIN > 0
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digitalWrite(FENCE_TRIGGERED_PIN, HIGH);
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#endif
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#endif
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gcs_send_text_P(SEVERITY_LOW,PSTR("geo-fence triggered"));
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gcs_send_message(MSG_FENCE_STATUS);
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@ -286,10 +286,10 @@ static void geofence_check(bool altitude_check_only)
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}
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/*
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return true if geofencing allows stick mixing. When we have
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triggered failsafe and are in GUIDED mode then stick mixing is
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disabled. Otherwise the aircraft may not be able to recover from
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a breach of the geo-fence
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* return true if geofencing allows stick mixing. When we have
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* triggered failsafe and are in GUIDED mode then stick mixing is
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* disabled. Otherwise the aircraft may not be able to recover from
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* a breach of the geo-fence
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*/
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static bool geofence_stickmixing(void) {
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if (geofence_enabled() &&
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@ -304,7 +304,7 @@ static bool geofence_stickmixing(void) {
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}
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/*
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*
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*/
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static void geofence_send_status(mavlink_channel_t chan)
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{
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@ -318,16 +318,21 @@ static void geofence_send_status(mavlink_channel_t chan)
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}
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// public function for use in failsafe modules
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bool geofence_breached(void)
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{
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return geofence_state?geofence_state->fence_triggered:false;
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bool geofence_breached(void)
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{
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return geofence_state ? geofence_state->fence_triggered : false;
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}
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#else // GEOFENCE_ENABLED
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static void geofence_check(bool altitude_check_only) { }
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static bool geofence_stickmixing(void) { return true; }
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static bool geofence_enabled(void) { return false; }
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static void geofence_check(bool altitude_check_only) {
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}
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static bool geofence_stickmixing(void) {
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return true;
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}
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static bool geofence_enabled(void) {
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return false;
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}
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#endif // GEOFENCE_ENABLED
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