aepko/Ardupilot2
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Rover: system.cpp correct whitespace, remove tabs

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This commit is contained in:
Pierre Kancir 2016-12-20 14:34:10 +01:00 committed by Randy Mackay
parent c2adb04a93
commit 52aa6b5767
1 changed files with 15 additions and 16 deletions
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31
APMrover2/system.cpp
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@ -48,7 +48,7 @@ int8_t Rover::reboot_board(uint8_t argc, const Menu::arg *argv)
void Rover::run_cli(AP_HAL::UARTDriver *port) void Rover::run_cli(AP_HAL::UARTDriver *port)
{ {
// disable the failsafe code in the CLI // disable the failsafe code in the CLI
hal.scheduler->register_timer_failsafe(nullptr,1); hal.scheduler->register_timer_failsafe(nullptr, 1);
// disable the mavlink delay callback // disable the mavlink delay callback
hal.scheduler->register_delay_callback(nullptr, 5); hal.scheduler->register_delay_callback(nullptr, 5);
@ -62,7 +62,7 @@ void Rover::run_cli(AP_HAL::UARTDriver *port)
} }
} }
#endif // CLI_ENABLED #endif // CLI_ENABLED
static void mavlink_delay_cb_static() static void mavlink_delay_cb_static()
{ {
@ -105,7 +105,7 @@ void Rover::init_ardupilot()
// Register mavlink_delay_cb, which will run anytime you have // Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay // more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5); hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init(); BoardConfig.init();
ServoRelayEvents.set_channel_mask(0xFFF0); ServoRelayEvents.set_channel_mask(0xFFF0);
@ -140,13 +140,13 @@ void Rover::init_ardupilot()
log_init(); log_init();
#endif #endif
if (g.compass_enabled==true) { if (g.compass_enabled == true) {
if (!compass.init()|| !compass.read()) { if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!"); cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false; g.compass_enabled = false;
} else { } else {
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference // compass.get_offsets(); // load offsets to account for airframe magnetic interference
} }
} }
@ -208,21 +208,21 @@ void Rover::init_ardupilot()
reset_control_switch(); reset_control_switch();
} }
//******************************************************************************** //*********************************************************************************
//This function does all the calibrations, etc. that we need during a ground start // This function does all the calibrations, etc. that we need during a ground start
//******************************************************************************** //*********************************************************************************
void Rover::startup_ground(void) void Rover::startup_ground(void)
{ {
set_mode(INITIALISING); set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start"); gcs_send_text(MAV_SEVERITY_INFO, "<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0) #if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay"); gcs_send_text(MAV_SEVERITY_NOTICE, "<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000); delay(GROUND_START_DELAY * 1000);
#endif #endif
//IMU ground start // IMU ground start
//------------------------ //------------------------
// //
@ -242,7 +242,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash); ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive"); gcs_send_text(MAV_SEVERITY_INFO, "Ready to drive");
} }
/* /*
@ -263,7 +263,6 @@ void Rover::set_reverse(bool reverse)
void Rover::set_mode(enum mode mode) void Rover::set_mode(enum mode mode)
{ {
if (control_mode == mode){ if (control_mode == mode){
// don't switch modes if we are already in the correct mode. // don't switch modes if we are already in the correct mode.
return; return;
@ -282,12 +281,12 @@ void Rover::set_mode(enum mode mode)
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode); frsky_telemetry.update_control_mode(control_mode);
#endif #endif
if (control_mode != AUTO) { if (control_mode != AUTO) {
auto_triggered = false; auto_triggered = false;
} }
switch(control_mode) { switch (control_mode) {
case MANUAL: case MANUAL:
case HOLD: case HOLD:
case LEARNING: case LEARNING:
@ -537,7 +536,7 @@ bool Rover::disarm_motors(void)
mission.reset(); mission.reset();
} }
//only log if disarming was successful // only log if disarming was successful
change_arm_state(); change_arm_state();
return true; return true;