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Land detector main: Fix style

This commit is contained in:
Lorenz Meier 2017-01-29 11:39:33 +01:00
parent 75132a50e6
commit 35efe651ac
1 changed files with 16 additions and 16 deletions
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32
src/modules/land_detector/land_detector_main.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -36,6 +36,7 @@
* Land detection algorithm
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <px4_config.h>
@ -59,7 +60,7 @@
namespace land_detector
{
//Function prototypes
// Function prototypes
static int land_detector_start(const char *mode);
static void land_detector_stop();
@ -70,13 +71,13 @@ static void land_detector_stop();
*/
extern "C" __EXPORT int land_detector_main(int argc, char *argv[]);
//Private variables
// Private variables
static LandDetector *land_detector_task = nullptr;
static char _currentMode[12];
/**
* Stop the task, force killing it if it doesn't stop by itself
**/
* Stop the task, force killing it if it doesn't stop by itself
*/
static void land_detector_stop()
{
if (land_detector_task == nullptr) {
@ -90,7 +91,7 @@ static void land_detector_stop()
int i = 0;
do {
/* wait 20ms */
// wait 20ms at a time
usleep(20000);
} while (land_detector_task->is_running() && ++i < 50);
@ -102,8 +103,8 @@ static void land_detector_stop()
}
/**
* Start new task, fails if it is already running. Returns OK if successful
**/
* Start new task, fails if it is already running. Returns OK if successful
*/
static int land_detector_start(const char *mode)
{
if (land_detector_task != nullptr) {
@ -126,13 +127,13 @@ static int land_detector_start(const char *mode)
return -1;
}
//Check if alloc worked
// Check if alloc worked
if (land_detector_task == nullptr) {
PX4_WARN("alloc failed");
return -1;
}
//Start new thread task
// Start new thread task
int ret = land_detector_task->start();
if (ret) {
@ -140,13 +141,12 @@ static int land_detector_start(const char *mode)
return -1;
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
const uint64_t timeout = hrt_absolute_time() + 5000000; //5 second timeout
// Avoid memory fragmentation by not exiting start handler until the task has fully started
const uint64_t timeout = hrt_absolute_time() + 5000000; // 5 second timeout
/* avoid printing dots just yet and do one sleep before the first check */
// Do one sleep before the first check
usleep(10000);
/* check if the waiting involving dots and a newline are still needed */
if (!land_detector_task->is_running()) {
while (!land_detector_task->is_running()) {
usleep(50000);
@ -167,8 +167,8 @@ static int land_detector_start(const char *mode)
}
/**
* Main entry point for this module
**/
* Main entry point for this module
*/
int land_detector_main(int argc, char *argv[])
{