From a01ca427b0384408fef9e69df027ec73fcf604b0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Aug 2015 23:20:03 +0200 Subject: [PATCH] Fix code style --- src/modules/navigator/mission_block.cpp | 12 ++++----- .../navigator/mission_feasibility_checker.cpp | 25 +++++++++---------- 2 files changed, 18 insertions(+), 19 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 2fc61c0cf7..2ce37ef94d 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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; diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 34f17ef0d4..a30060b27a 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -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 ||