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AP_BLHeli: minor formatting fixes

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This commit is contained in:
Randy Mackay 2018-12-17 17:23:27 +09:00
parent 60250e4c49
commit 4bceabb333
1 changed files with 11 additions and 14 deletions
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25
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -301,12 +301,12 @@ void AP_BLHeli::msp_process_command(void)
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
break;
}
case MSP_FC_VARIANT:
debug("MSP_FC_VARIANT");
msp_send_reply(msp.cmdMSP, (const uint8_t *)ARDUPILOT_IDENTIFIER, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
break;
case MSP_FC_VERSION: {
debug("MSP_FC_VERSION");
uint8_t version[3] = { 3, 3, 0 };
@ -435,7 +435,7 @@ void AP_BLHeli::msp_process_command(void)
hal.rcout->push();
break;
}
case MSP_SET_4WAY_IF: {
debug("MSP_SET_4WAY_IF");
if (msp.dataSize == 0) {
@ -464,7 +464,6 @@ void AP_BLHeli::msp_process_command(void)
}
}
/*
send a blheli 4way protocol reply
*/
@ -677,7 +676,7 @@ bool AP_BLHeli::BL_ConnectEx(void)
blheli.deviceInfo[blheli.chan][0] = BootInfo[5];
blheli.interface_mode[blheli.chan] = 0;
uint16_t *devword = (uint16_t *)blheli.deviceInfo[blheli.chan];
switch (*devword) {
case 0x9307:
@ -1039,7 +1038,7 @@ void AP_BLHeli::blheli_process_command(void)
blheli_send_reply(&b, 1);
break;
}
case cmd_DeviceEraseAll:
case cmd_DeviceC2CK_LOW:
default:
@ -1059,7 +1058,7 @@ void AP_BLHeli::blheli_process_command(void)
bool AP_BLHeli::process_input(uint8_t b)
{
bool valid_packet = false;
if (msp.escMode == PROTOCOL_4WAY && blheli.state == BLHELI_IDLE && b == '$') {
debug("Change to MSP mode");
msp.escMode = PROTOCOL_NONE;
@ -1116,7 +1115,6 @@ bool AP_BLHeli::protocol_handler(uint8_t b, AP_HAL::UARTDriver *_uart)
return process_input(b);
}
/*
run a connection test to the ESCs. This is used to test the
operation of the BLHeli ESC protocol
@ -1246,7 +1244,7 @@ void AP_BLHeli::update(void)
if (mask && mode != AP_HAL::RCOutput::MODE_PWM_NONE) {
hal.rcout->set_output_mode(mask, mode);
}
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
/*
plane and copter can use AP_Motors to get an automatic mask
@ -1326,7 +1324,7 @@ void AP_BLHeli::read_telemetry_packet(void)
}
buf[i] = uint8_t(v);
}
// calculate crc
for (uint8_t i=0; i<telem_packet_size-1; i++) {
crc = telem_crc8(buf[i], crc);
@ -1347,7 +1345,7 @@ void AP_BLHeli::read_telemetry_packet(void)
last_telem[last_telem_esc] = td;
last_telem[last_telem_esc].count++;
DataFlash_Class *df = DataFlash_Class::instance();
if (df && df->logging_enabled()) {
struct log_Esc pkt = {
@ -1392,9 +1390,9 @@ void AP_BLHeli::update_telemetry(void)
telem_uart->begin(115200);
telem_uart_started = true;
}
uint32_t nbytes = telem_uart->available();
if (nbytes > telem_packet_size) {
// if we have more than 10 bytes then we don't know which ESC
// they are from. Throw them all away
@ -1434,7 +1432,6 @@ void AP_BLHeli::update_telemetry(void)
}
}
/*
send ESC telemetry messages over MAVLink
*/