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Code formatting

This commit is contained in:
Jason Short 2011-11-09 12:06:55 -08:00
parent 4d27b725db
commit c3c08d7915
1 changed files with 46 additions and 47 deletions
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93
ArduCopter/control_modes.pde
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@ -47,74 +47,73 @@ static void reset_control_switch()
static void read_trim_switch()
{
#if CH7_OPTION == CH7_FLIP
if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
do_flip = true;
}
if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
do_flip = true;
}
#elif CH7_OPTION == CH7_SIMPLE_MODE
do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC);
do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_RTL
static bool ch7_rtl_flag = false;
static bool ch7_rtl_flag = false;
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
ch7_rtl_flag = true;
set_mode(RTL);
}
if (ch7_rtl_flag == true && g.rc_7.control_in < 800){
ch7_rtl_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
ch7_rtl_flag = true;
set_mode(RTL);
}
if (ch7_rtl_flag == true && g.rc_7.control_in < 800){
ch7_rtl_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
}
}
}
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.control_in > 800){
trim_flag = true;
// switch is engaged
if (g.rc_7.control_in > 800){
trim_flag = true;
}else{ // switch is disengaged
}else{ // switch is disengaged
if(trim_flag){
if(trim_flag){
// set the throttle nominal
if(g.rc_3.control_in > 150){
g.throttle_cruise.set_and_save(g.rc_3.control_in);
//Serial.printf("tnom %d\n", g.throttle_cruise.get());
// set the throttle nominal
if(g.rc_3.control_in > 150){
g.throttle_cruise.set_and_save(g.rc_3.control_in);
//Serial.printf("tnom %d\n", g.throttle_cruise.get());
}
trim_flag = false;
}
trim_flag = false;
}
}
#elif CH7_OPTION == CH7_SAVE_WP
if (g.rc_7.control_in > 800){
trim_flag = true;
if (g.rc_7.control_in > 800){
trim_flag = true;
}else{ // switch is disengaged
}else{ // switch is disengaged
if(trim_flag){
// set the next_WP
CH7_wp_index++;
current_loc.id = MAV_CMD_NAV_WAYPOINT;
g.command_total.set_and_save(CH7_wp_index);
set_command_with_index(current_loc, CH7_wp_index);
if(trim_flag){
// set the next_WP
CH7_wp_index++;
current_loc.id = MAV_CMD_NAV_WAYPOINT;
g.command_total.set_and_save(CH7_wp_index);
set_command_with_index(current_loc, CH7_wp_index);
}
}
}
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
if (g.rc_7.control_in > 800){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
#endif
}