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Rover: commands.cpp correct whitespace, remove tabs

This commit is contained in:
Pierre Kancir 2016-12-20 14:32:04 +01:00 committed by Randy Mackay
parent f32de5e21b
commit d68c7f935b
1 changed files with 34 additions and 34 deletions
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68
APMrover2/commands.cpp
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@ -1,10 +1,10 @@
#include "Rover.h"
/* Functions in this file:
void set_next_WP(const AP_Mission::Mission_Command& cmd)
void set_guided_WP(void)
void init_home()
void restart_nav()
void set_next_WP(const AP_Mission::Mission_Command& cmd)
void set_guided_WP(void)
void init_home()
void restart_nav()
************************************************************
*/
@ -14,13 +14,13 @@
*/
void Rover::set_next_WP(const struct Location& loc)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// Load the next_WP slot
// ---------------------
next_WP = loc;
// Load the next_WP slot
// ---------------------
next_WP = loc;
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
@ -32,24 +32,24 @@ void Rover::set_next_WP(const struct Location& loc)
prev_WP = current_loc;
}
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
}
void Rover::set_guided_WP(void)
{
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP = current_loc;
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP = current_loc;
// Load the next_WP slot
// ---------------------
next_WP = guided_WP;
// Load the next_WP slot
// ---------------------
next_WP = guided_WP;
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
}
// run this at setup on the ground
@ -61,27 +61,27 @@ void Rover::init_home()
return;
}
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
// Save Home to EEPROM
mission.write_home_to_storage();
// Save Home to EEPROM
mission.write_home_to_storage();
// Save prev loc
// -------------
next_WP = prev_WP = home;
// Save prev loc
// -------------
next_WP = prev_WP = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
}
void Rover::restart_nav()
{
{
g.pidSpeedThrottle.reset_I();
prev_WP = current_loc;
mission.start_or_resume();