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px4-firmware
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Fix code style

This commit is contained in:
Lorenz Meier 2015-08-18 23:20:03 +02:00
parent 456bdd070a
commit a01ca427b0
2 changed files with 18 additions and 19 deletions
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12
src/modules/navigator/mission_block.cpp
View File

@ -78,13 +78,13 @@ bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), actuator_pub_fd, &actuators);
actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
memset(&actuators, 0, sizeof(actuators));
actuators.control[_mission_item.actuator_num] = 1.0f / 2000 * -_mission_item.actuator_value;
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_2), actuator_pub_fd, &actuators);
return true;
}
}
if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
return false;

25
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -306,19 +306,18 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
/* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
//check actuator number
if (mission_item.actuator_num<0 || mission_item.actuator_num>5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
warning_issued = true;
return false;
}
//check actuator value
if (mission_item.actuator_value<-2000 || mission_item.actuator_value>2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
warning_issued = true;
return false;
}
/* check actuator number */
if (mission_item.actuator_num < 0 || mission_item.actuator_num > 5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
warning_issued = true;
return false;
}
/* check actuator value */
if (mission_item.actuator_value < -2000 || mission_item.actuator_value > 2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
warning_issued = true;
return false;
}
}
/* check only items with valid lat/lon */
else if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||