dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

fix formatting

This commit is contained in:
Igor Campos 2020-10-05 10:38:06 -04:00 committed by Lorenz Meier
parent 73f7b08873
commit e1e06364da
1 changed files with 12 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
src/drivers/camera_trigger/camera_trigger.cpp
View File

@ -653,11 +653,14 @@ CameraTrigger::Run()
// Camera Auto Mount Pseudo Oblique Solution (CAMPOS)
if (cmd.param4 > 0.0f) {
_pseudo_oblique_num_poses = commandParamToInt(cmd.param4);
if (cmd.param5 > 0.0) {
_pseudo_oblique_roll_angle = cmd.param5;
} else {
_pseudo_oblique_roll_angle = 30.0f;
}
_pseudo_oblique_pitch_angle = cmd.param6;
_pseudo_oblique_angle_interval = _pseudo_oblique_roll_angle * 2 / (_pseudo_oblique_num_poses - 1);
_pseudo_oblique_pose_counter = 0;
@ -685,13 +688,16 @@ CameraTrigger::Run()
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
goto unknown_cmd;
}
_target_system = cmd.target_system;
_target_component = cmd.target_component;
}
unknown_cmd:
unknown_cmd:
// State change handling
if ((main_state != _trigger_enabled) ||
@ -954,7 +960,8 @@ int camera_trigger_main(int argc, char *argv[])
}
void
CameraTrigger::adjust_roll() {
CameraTrigger::adjust_roll()
{
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
@ -965,8 +972,10 @@ CameraTrigger::adjust_roll() {
vcmd.param1 = _pseudo_oblique_pitch_angle;
//param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll
if (++_pseudo_oblique_pose_counter == _pseudo_oblique_num_poses)
if (++_pseudo_oblique_pose_counter == _pseudo_oblique_num_poses) {
_pseudo_oblique_pose_counter = 0;
}
vcmd.param2 = _pseudo_oblique_angle_interval * _pseudo_oblique_pose_counter - _pseudo_oblique_roll_angle;
vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;