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AP_UAVCAN: simply do_cyclic

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- non-functional change, just returning early instead of deeper and deeper brackets
This commit is contained in:
Tom Pittenger 2018-02-08 15:46:57 -08:00 committed by Tom Pittenger
parent 52589f3c22
commit 18caed135e
1 changed files with 34 additions and 32 deletions
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66
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -548,40 +548,42 @@ void AP_UAVCAN::rc_out_send_esc(void)
void AP_UAVCAN::do_cyclic(void)
{
if (_initialized) {
auto *node = get_node();
const int error = node->spin(uavcan::MonotonicDuration::fromMSec(1));
if (error < 0) {
hal.scheduler->delay_microseconds(1000);
} else {
if (rc_out_sem_take()) {
if (_rco_armed) {
// if we have any Servos in bitmask
if (_servo_bm > 0) {
rc_out_send_servos();
}
// if we have any ESC's in bitmask
if (_esc_bm > 0) {
rc_out_send_esc();
}
}
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
// mark as transmitted
_rco_conf[i].active = false;
}
rc_out_sem_give();
}
}
} else {
if (!_initialized) {
hal.scheduler->delay_microseconds(1000);
return;
}
auto *node = get_node();
const int error = node->spin(uavcan::MonotonicDuration::fromMSec(1));
if (error < 0) {
hal.scheduler->delay_microseconds(1000);
return;
}
if (rc_out_sem_take()) {
if (_rco_armed) {
// if we have any Servos in bitmask
if (_servo_bm > 0) {
rc_out_send_servos();
}
// if we have any ESC's in bitmask
if (_esc_bm > 0) {
rc_out_send_esc();
}
}
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
// mark as transmitted
_rco_conf[i].active = false;
}
rc_out_sem_give();
}
}
uavcan::ISystemClock & AP_UAVCAN::get_system_clock()