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Copter: minor format changes to GCS_MAVlink.cpp

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This commit is contained in:
Randy Mackay 2020-02-17 14:42:20 +09:00
parent f6125b26e8
commit d04c86be1e
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -601,7 +601,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t
switch (packet.command) {
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
if (!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
(float)packet.param3 * 0.01f,
0.0f,
@ -870,7 +870,7 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
switch (msg.msgid) {
#if MOUNT == ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
if (!copter.camera_mount.has_pan_control()) {
// if the mount doesn't do pan control then yaw the entire vehicle instead:
copter.flightmode->auto_yaw.set_fixed_yaw(
mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
@ -892,7 +892,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg.sysid != copter.g.sysid_my_gcs) break;
if (msg.sysid != copter.g.sysid_my_gcs) break;
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
@ -1087,7 +1087,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
Vector3f pos_neu_cm; // position (North, East, Up coordinates) in centimeters
bool terrain_alt = false;
if(!pos_ignore) {
if (!pos_ignore) {
// sanity check location
if (!check_latlng(packet.lat_int, packet.lon_int)) {
break;
@ -1204,7 +1204,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
if((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
if (!copter.set_home_to_current_location(true)) {
// silently ignored
}