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Rover: commands_logic.cpp correct whitespace, remove tabs

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This commit is contained in:
Pierre Kancir 2016-12-20 14:32:19 +01:00 committed by Randy Mackay
parent d68c7f935b
commit 0c420f931f
1 changed files with 7 additions and 9 deletions

16
APMrover2/commands_logic.cpp
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@ -15,13 +15,13 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
return false; return false;
} }
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i", cmd.id);
// remember the course of our next navigation leg // remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0); next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
switch (cmd.id) { switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd); do_nav_wp(cmd);
break; break;
@ -161,7 +161,6 @@ Return true if we do not recognize the command so that we move on to the next co
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd) bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{ {
switch (cmd.id) { switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd); return verify_nav_wp(cmd);
@ -197,11 +196,10 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
default: default:
// error message // error message
gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id); gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
// return true if we do not recognize the command so that we move on to the next command // return true if we do not recognize the command so that we move on to the next command
return true; return true;
} }
} }
/********************************************************************************/ /********************************************************************************/
@ -211,7 +209,7 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
void Rover::do_RTL(void) void Rover::do_RTL(void)
{ {
prev_WP = current_loc; prev_WP = current_loc;
control_mode = RTL; control_mode = RTL;
next_WP = home; next_WP = home;
} }
@ -238,7 +236,7 @@ void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{ {
active_loiter = true; active_loiter = true;
do_nav_wp(cmd); do_nav_wp(cmd);
loiter_duration = 100; // an arbitrary large loiter time loiter_duration = 100; // an arbitrary large loiter time
} }
// do_loiter_time - initiate loitering at a point for a given time period // do_loiter_time - initiate loitering at a point for a given time period
@ -331,7 +329,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_RTL() bool Rover::verify_RTL()
{ {
if (wp_distance <= g.waypoint_radius) { if (wp_distance <= g.waypoint_radius) {
gcs_send_text(MAV_SEVERITY_INFO,"Reached destination"); gcs_send_text(MAV_SEVERITY_INFO, "Reached destination");
rtl_complete = true; rtl_complete = true;
return true; return true;
} }
@ -413,7 +411,7 @@ void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_wait_delay() bool Rover::verify_wait_delay()
{ {
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value) { if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value) {
condition_value = 0; condition_value = 0;
return true; return true;
} }
return false; return false;