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px4-firmware
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More whitespace all the time.

This commit is contained in:
Helen Oleynikova 2014-04-10 10:37:58 +02:00
parent e5105f6d91
commit 8a946f0320
2 changed files with 92 additions and 92 deletions
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178
src/modules/mavlink/mavlink_messages.cpp
View File

@ -94,7 +94,7 @@ cm_uint16_from_m_float(float m)
}
void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
{
*mavlink_state = 0;
*mavlink_base_mode = 0;
@ -107,7 +107,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
/* arming state */
if (status->arming_state == ARMING_STATE_ARMED
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
@ -163,8 +163,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
/* set system state */
if (status->arming_state == ARMING_STATE_INIT
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE
|| status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE
|| status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
*mavlink_state = MAV_STATE_UNINIT;
} else if (status->arming_state == ARMING_STATE_ARMED) {
@ -344,13 +344,13 @@ protected:
}
mavlink_msg_highres_imu_send(_channel,
sensor->timestamp,
sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2],
sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2],
sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2],
sensor->baro_pres_mbar, sensor->differential_pressure_pa,
sensor->baro_alt_meter, sensor->baro_temp_celcius,
fields_updated);
sensor->timestamp,
sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2],
sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2],
sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2],
sensor->baro_pres_mbar, sensor->differential_pressure_pa,
sensor->baro_alt_meter, sensor->baro_temp_celcius,
fields_updated);
}
}
};
@ -420,14 +420,14 @@ protected:
{
if (att_sub->update(t)) {
mavlink_msg_attitude_quaternion_send(_channel,
att->timestamp / 1000,
att->q[0],
att->q[1],
att->q[2],
att->q[3],
att->rollspeed,
att->pitchspeed,
att->yawspeed);
att->timestamp / 1000,
att->q[0],
att->q[1],
att->q[2],
att->q[3],
att->rollspeed,
att->pitchspeed,
att->yawspeed);
}
}
};
@ -534,16 +534,16 @@ protected:
{
if (gps_sub->update(t)) {
mavlink_msg_gps_raw_int_send(_channel,
gps->timestamp_position,
gps->fix_type,
gps->lat,
gps->lon,
gps->alt,
cm_uint16_from_m_float(gps->eph_m),
cm_uint16_from_m_float(gps->epv_m),
gps->vel_m_s * 100.0f,
_wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
gps->satellites_visible);
gps->timestamp_position,
gps->fix_type,
gps->lat,
gps->lon,
gps->alt,
cm_uint16_from_m_float(gps->eph_m),
cm_uint16_from_m_float(gps->epv_m),
gps->vel_m_s * 100.0f,
_wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
gps->satellites_visible);
}
}
};
@ -586,15 +586,15 @@ protected:
if (updated) {
mavlink_msg_global_position_int_send(_channel,
pos->timestamp / 1000,
pos->lat * 1e7,
pos->lon * 1e7,
pos->alt * 1000.0f,
(pos->alt - home->alt) * 1000.0f,
pos->vel_n * 100.0f,
pos->vel_e * 100.0f,
pos->vel_d * 100.0f,
_wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
pos->timestamp / 1000,
pos->lat * 1e7,
pos->lon * 1e7,
pos->alt * 1000.0f,
(pos->alt - home->alt) * 1000.0f,
pos->vel_n * 100.0f,
pos->vel_e * 100.0f,
pos->vel_d * 100.0f,
_wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
}
}
};
@ -628,13 +628,13 @@ protected:
{
if (pos_sub->update(t)) {
mavlink_msg_local_position_ned_send(_channel,
pos->timestamp / 1000,
pos->x,
pos->y,
pos->z,
pos->vx,
pos->vy,
pos->vz);
pos->timestamp / 1000,
pos->x,
pos->y,
pos->z,
pos->vx,
pos->vy,
pos->vz);
}
}
};
@ -644,40 +644,40 @@ protected:
class MavlinkStreamViconPositionEstimate : public MavlinkStream
{
public:
const char *get_name()
{
return "VICON_POSITION_ESTIMATE";
}
const char *get_name()
{
return "VICON_POSITION_ESTIMATE";
}
MavlinkStream *new_instance()
{
return new MavlinkStreamViconPositionEstimate();
}
MavlinkStream *new_instance()
{
return new MavlinkStreamViconPositionEstimate();
}
private:
MavlinkOrbSubscription *pos_sub;
struct vehicle_vicon_position_s *pos;
MavlinkOrbSubscription *pos_sub;
struct vehicle_vicon_position_s *pos;
protected:
void subscribe(Mavlink *mavlink)
{
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
}
void send(const hrt_abstime t)
{
if (pos_sub->update(t)) {
mavlink_msg_vicon_position_estimate_send(_channel,
pos->timestamp / 1000,
pos->x,
pos->y,
pos->z,
pos->roll,
pos->pitch,
pos->yaw);
}
}
void send(const hrt_abstime t)
{
if (pos_sub->update(t)) {
mavlink_msg_vicon_position_estimate_send(_channel,
pos->timestamp / 1000,
pos->x,
pos->y,
pos->z,
pos->roll,
pos->pitch,
pos->yaw);
}
}
};
@ -869,10 +869,10 @@ protected:
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
} else {
/* fixed wing: scale all channels except throttle -1 .. 1
@ -897,10 +897,10 @@ protected:
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
}
}
}
@ -1175,12 +1175,12 @@ protected:
{
if (flow_sub->update(t)) {
mavlink_msg_optical_flow_send(_channel,
flow->timestamp,
flow->sensor_id,
flow->flow_raw_x, flow->flow_raw_y,
flow->flow_comp_x_m, flow->flow_comp_y_m,
flow->quality,
flow->ground_distance_m);
flow->timestamp,
flow->sensor_id,
flow->flow_raw_x, flow->flow_raw_y,
flow->flow_comp_x_m, flow->flow_comp_y_m,
flow->quality,
flow->ground_distance_m);
}
}
};
@ -1300,7 +1300,7 @@ protected:
(void)status_sub->update(t);
if (status->arming_state == ARMING_STATE_ARMED
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
/* send camera capture on */
mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
@ -1338,6 +1338,6 @@ MavlinkStream *streams_list[] = {
new MavlinkStreamAttitudeControls(),
new MavlinkStreamNamedValueFloat(),
new MavlinkStreamCameraCapture(),
new MavlinkStreamViconPositionEstimate(),
new MavlinkStreamViconPositionEstimate(),
nullptr
};

6
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -182,9 +182,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
}
void