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fw_pos_control_l1: indentation only

This commit is contained in:
Julian Oes 2014-02-18 14:35:41 +01:00
parent 4b519e4d5d
commit 3eaa892ee4
1 changed files with 16 additions and 16 deletions
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32
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -130,23 +130,23 @@ private:
int _att_sub; /**< vehicle attitude subscription */ int _att_sub; /**< vehicle attitude subscription */
int _attitude_sub; /**< raw rc channels data subscription */ int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */ int _airspeed_sub; /**< airspeed subscription */
int _control_mode_sub; /**< vehicle status subscription */ int _control_mode_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */ int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */ int _manual_control_sub; /**< notification of manual control updates */
int _sensor_combined_sub; /**< for body frame accelerations */ int _sensor_combined_sub; /**< for body frame accelerations */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */ orb_advert_t _nav_capabilities_pub; /**< navigation capabilities publication */
struct vehicle_attitude_s _att; /**< vehicle attitude */ struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */ struct navigation_capabilities_s _nav_capabilities; /**< navigation capabilities */
struct manual_control_setpoint_s _manual; /**< r/c channel data */ struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct airspeed_s _airspeed; /**< airspeed */ struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _control_mode; /**< vehicle status */ struct vehicle_control_mode_s _control_mode; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _loop_perf; /**< loop performance counter */
@ -192,7 +192,7 @@ private:
uint64_t _airspeed_last_valid; ///< last time airspeed was valid. Used to detect sensor failures uint64_t _airspeed_last_valid; ///< last time airspeed was valid. Used to detect sensor failures
float _groundspeed_undershoot; ///< ground speed error to min. speed in m/s float _groundspeed_undershoot; ///< ground speed error to min. speed in m/s
bool _global_pos_valid; ///< global position is valid bool _global_pos_valid; ///< global position is valid
math::Matrix<3, 3> _R_nb; ///< current attitude math::Matrix<3, 3> _R_nb; ///< current attitude
ECL_L1_Pos_Controller _l1_control; ECL_L1_Pos_Controller _l1_control;
TECS _tecs; TECS _tecs;
@ -406,8 +406,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
airspeed_s _airspeed = {0}; airspeed_s _airspeed = {0};
vehicle_control_mode_s _control_mode = {0}; vehicle_control_mode_s _control_mode = {0};
vehicle_global_position_s _global_pos = {0}; vehicle_global_position_s _global_pos = {0};
position_setpoint_triplet_s _pos_sp_triplet = {0}; position_setpoint_triplet_s _pos_sp_triplet = {0};
sensor_combined_s _sensor_combined = {0}; sensor_combined_s _sensor_combined = {0};
@ -587,8 +587,8 @@ FixedwingPositionControl::vehicle_control_mode_poll()
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
if (!was_armed && _control_mode.flag_armed) { if (!was_armed && _control_mode.flag_armed) {
_launch_lat = _global_pos.lat / 1e7f; _launch_lat = _global_pos.lat / 1e7d;
_launch_lon = _global_pos.lon / 1e7f; _launch_lon = _global_pos.lon / 1e7d;
_launch_alt = _global_pos.alt; _launch_alt = _global_pos.alt;
_launch_valid = true; _launch_valid = true;
} }