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RC_Channel:fix code formatting

This commit is contained in:
Henry Wurzburg 2023-02-14 08:10:27 -06:00 committed by Peter Barker
parent 32a0c8935e
commit ab6886f056
1 changed files with 90 additions and 83 deletions
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173
libraries/RC_Channel/RC_Channel.cpp
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@ -216,7 +216,7 @@ int16_t RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
*/
int16_t RC_Channel::pwm_to_angle() const
{
return pwm_to_angle_dz(dead_zone);
return pwm_to_angle_dz(dead_zone);
}
@ -229,7 +229,7 @@ int16_t RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get());
if (reversed) {
r_in = radio_max.get() - (r_in - radio_min.get());
r_in = radio_max.get() - (r_in - radio_min.get());
}
int16_t radio_trim_low = radio_min + _dead_zone;
@ -418,12 +418,19 @@ bool RC_Channel::read_6pos_switch(int8_t& position)
return false; // This is an error condition
}
if (pulsewidth < 1231) position = 0;
else if (pulsewidth < 1361) position = 1;
else if (pulsewidth < 1491) position = 2;
else if (pulsewidth < 1621) position = 3;
else if (pulsewidth < 1750) position = 4;
else position = 5;
if (pulsewidth < 1231) {
position = 0;
} else if (pulsewidth < 1361) {
position = 1;
} else if (pulsewidth < 1491) {
position = 2;
} else if (pulsewidth < 1621) {
position = 3;
} else if (pulsewidth < 1750) {
position = 4;
} else {
position = 5;
}
if (!debounce_completed(position)) {
return false;
@ -441,12 +448,12 @@ void RC_Channel::read_mode_switch()
}
}
bool RC_Channel::debounce_completed(int8_t position)
bool RC_Channel::debounce_completed(int8_t position)
{
// switch change not detected
if (switch_state.current_position == position) {
// reset debouncing
switch_state.debounce_position = position;
switch_state.debounce_position = position;
} else {
// switch change detected
const uint32_t tnow_ms = AP_HAL::millis();
@ -473,7 +480,7 @@ bool RC_Channel::debounce_completed(int8_t position)
void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
// init channel options
switch(ch_option) {
switch (ch_option) {
// the following functions do not need to be initialised:
case AUX_FUNC::ARMDISARM:
case AUX_FUNC::CAMERA_TRIGGER:
@ -554,10 +561,10 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
(unsigned)(this->ch_in+1), (unsigned)ch_option);
(unsigned)(this->ch_in+1), (unsigned)ch_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_BoardConfig::config_error("Failed to init: RC%u_OPTION: %u",
(unsigned)(this->ch_in+1), (unsigned)ch_option);
(unsigned)(this->ch_in+1), (unsigned)ch_option);
#endif
break;
}
@ -620,24 +627,24 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
/* lookup the announcement for switch change */
const char *RC_Channel::string_for_aux_function(AUX_FUNC function) const
{
for (const struct LookupTable &entry : lookuptable) {
for (const struct LookupTable &entry : lookuptable) {
if (entry.option == function) {
return entry.announcement;
}
}
return nullptr;
}
return nullptr;
}
/* find string for postion */
const char *RC_Channel::string_for_aux_pos(AuxSwitchPos pos) const
{
switch (pos) {
case AuxSwitchPos::HIGH:
return "HIGH";
case AuxSwitchPos::MIDDLE:
return "MIDDLE";
case AuxSwitchPos::LOW:
return "LOW";
case AuxSwitchPos::HIGH:
return "HIGH";
case AuxSwitchPos::MIDDLE:
return "MIDDLE";
case AuxSwitchPos::LOW:
return "LOW";
}
return "";
}
@ -843,15 +850,15 @@ void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
runcam->start_recording();
break;
case AuxSwitchPos::MIDDLE:
runcam->osd_option();
break;
case AuxSwitchPos::LOW:
runcam->stop_recording();
break;
case AuxSwitchPos::HIGH:
runcam->start_recording();
break;
case AuxSwitchPos::MIDDLE:
runcam->osd_option();
break;
case AuxSwitchPos::LOW:
runcam->stop_recording();
break;
}
#endif
}
@ -865,13 +872,13 @@ void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
runcam->enter_osd();
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
runcam->exit_osd();
break;
case AuxSwitchPos::HIGH:
runcam->enter_osd();
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
runcam->exit_osd();
break;
}
#endif
}
@ -953,7 +960,7 @@ void RC_Channel::do_aux_function_gripper(const AuxSwitchPos ch_flag)
return;
}
switch(ch_flag) {
switch (ch_flag) {
case AuxSwitchPos::LOW:
gripper->release();
break;
@ -1020,13 +1027,13 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
fft->start_notch_tune();
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
fft->stop_notch_tune();
break;
case AuxSwitchPos::HIGH:
fft->start_notch_tune();
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
fft->stop_notch_tune();
break;
}
#endif
}
@ -1059,13 +1066,13 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
uint8_t(pos),
uint8_t(source),
uint8_t(ret)
);
);
return ret;
}
bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
switch (ch_option) {
#if AP_FENCE_ENABLED
case AUX_FUNC::FENCE:
do_aux_function_fence(ch_flag);
@ -1330,15 +1337,15 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
break;
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
mount->set_mode(0,MAV_MOUNT_MODE_RETRACT);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
mount->set_mode_to_default(0);
break;
case AuxSwitchPos::HIGH:
mount->set_mode(0,MAV_MOUNT_MODE_RETRACT);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
mount->set_mode_to_default(0);
break;
}
break;
}
@ -1356,16 +1363,16 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::LOG_PAUSE: {
AP_Logger *logger = AP_Logger::get_singleton();
switch (ch_flag) {
case AuxSwitchPos::LOW:
logger->log_pause(false);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::HIGH:
logger->log_pause(true);
break;
}
case AuxSwitchPos::LOW:
logger->log_pause(false);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::HIGH:
logger->log_pause(true);
break;
}
break;
}
@ -1395,19 +1402,19 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::ARM_EMERGENCY_STOP: {
switch (ch_flag) {
case AuxSwitchPos::HIGH:
// request arm, disable emergency motor stop
SRV_Channels::set_emergency_stop(false);
AP::arming().arm(AP_Arming::Method::AUXSWITCH, true);
break;
case AuxSwitchPos::MIDDLE:
// disable emergency motor stop
SRV_Channels::set_emergency_stop(false);
break;
case AuxSwitchPos::LOW:
// enable emergency motor stop
SRV_Channels::set_emergency_stop(true);
break;
case AuxSwitchPos::HIGH:
// request arm, disable emergency motor stop
SRV_Channels::set_emergency_stop(false);
AP::arming().arm(AP_Arming::Method::AUXSWITCH, true);
break;
case AuxSwitchPos::MIDDLE:
// disable emergency motor stop
SRV_Channels::set_emergency_stop(false);
break;
case AuxSwitchPos::LOW:
// enable emergency motor stop
SRV_Channels::set_emergency_stop(true);
break;
}
break;
}
@ -1481,10 +1488,10 @@ bool RC_Channel::read_3pos_switch(RC_Channel::AuxSwitchPos &ret) const
if (in <= RC_MIN_LIMIT_PWM || in >= RC_MAX_LIMIT_PWM) {
return false;
}
// switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
bool switch_reversed = reversed && rc().switch_reverse_allowed();
if (in < AUX_SWITCH_PWM_TRIGGER_LOW) {
ret = switch_reversed ? AuxSwitchPos::HIGH : AuxSwitchPos::LOW;
} else if (in > AUX_SWITCH_PWM_TRIGGER_HIGH) {
@ -1553,7 +1560,7 @@ bool RC_Channels::duplicate_options_exist()
return true;
}
}
return false;
return false;
}
// convert option parameter from old to new