From a0271fe020134d94c8aded0d4674df3b47f45976 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 28 Jan 2017 16:24:16 -0500 Subject: [PATCH] astyle src/modules/vtol_att_control --- src/modules/vtol_att_control/tailsitter.cpp | 6 ++--- .../vtol_att_control_main.cpp | 24 +++++++++---------- 2 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index dea8396fbe..692a256690 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -246,14 +246,14 @@ void Tailsitter::update_transition_state() /** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/ _v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f)); - _v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , PITCH_TRANSITION_FRONT_P1 - 0.2f , + _v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f, _pitch_transition_start); /** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */ if (_airspeed->indicated_airspeed_m_s <= _params_tailsitter.airspeed_trans) { _thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f)); - _thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start , + _thrust_transition = math::constrain(_thrust_transition, _thrust_transition_start, (1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start); _v_att_sp->thrust = _thrust_transition; } @@ -316,7 +316,7 @@ void Tailsitter::update_transition_state() /** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/ _v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.back_trans_dur * 1000000.0f); - _v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK + 0.2f); + _v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f); // throttle value is decreesed _v_att_sp->thrust = _thrust_transition_start * 0.9f; diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index b3dae9495c..d6e6baf0c3 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -236,7 +236,7 @@ void VtolAttitudeControl::actuator_controls_mc_poll() orb_check(_actuator_inputs_mc, &updated); if (updated) { - orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc , &_actuators_mc_in); + orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in); } } @@ -249,7 +249,7 @@ void VtolAttitudeControl::actuator_controls_fw_poll() orb_check(_actuator_inputs_fw, &updated); if (updated) { - orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw , &_actuators_fw_in); + orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in); } } @@ -262,7 +262,7 @@ void VtolAttitudeControl::vehicle_rates_sp_mc_poll() orb_check(_mc_virtual_v_rates_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub , &_mc_virtual_v_rates_sp); + orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub, &_mc_virtual_v_rates_sp); } } @@ -275,7 +275,7 @@ void VtolAttitudeControl::vehicle_rates_sp_fw_poll() orb_check(_fw_virtual_v_rates_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub , &_fw_virtual_v_rates_sp); + orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub, &_fw_virtual_v_rates_sp); } } @@ -289,7 +289,7 @@ VtolAttitudeControl::vehicle_airspeed_poll() orb_check(_airspeed_sub, &updated); if (updated) { - orb_copy(ORB_ID(airspeed), _airspeed_sub , &_airspeed); + orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); } } @@ -333,7 +333,7 @@ VtolAttitudeControl::vehicle_battery_poll() orb_check(_battery_status_sub, &updated); if (updated) { - orb_copy(ORB_ID(battery_status), _battery_status_sub , &_batt_status); + orb_copy(ORB_ID(battery_status), _battery_status_sub, &_batt_status); } } @@ -366,7 +366,7 @@ VtolAttitudeControl::vehicle_local_pos_poll() orb_check(_local_pos_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub , &_local_pos); + orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos); } } @@ -382,7 +382,7 @@ VtolAttitudeControl::mc_virtual_att_sp_poll() orb_check(_mc_virtual_att_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(mc_virtual_attitude_setpoint), _mc_virtual_att_sp_sub , &_mc_virtual_att_sp); + orb_copy(ORB_ID(mc_virtual_attitude_setpoint), _mc_virtual_att_sp_sub, &_mc_virtual_att_sp); } } @@ -398,7 +398,7 @@ VtolAttitudeControl::fw_virtual_att_sp_poll() orb_check(_fw_virtual_att_sp_sub, &updated); if (updated) { - orb_copy(ORB_ID(fw_virtual_attitude_setpoint), _fw_virtual_att_sp_sub , &_fw_virtual_att_sp); + orb_copy(ORB_ID(fw_virtual_attitude_setpoint), _fw_virtual_att_sp_sub, &_fw_virtual_att_sp); } } @@ -413,7 +413,7 @@ VtolAttitudeControl::vehicle_cmd_poll() orb_check(_vehicle_cmd_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_cmd); + orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub, &_vehicle_cmd); handle_command(); } } @@ -429,7 +429,7 @@ VtolAttitudeControl::tecs_status_poll() orb_check(_tecs_status_sub, &updated); if (updated) { - orb_copy(ORB_ID(tecs_status), _tecs_status_sub , &_tecs_status); + orb_copy(ORB_ID(tecs_status), _tecs_status_sub, &_tecs_status); } } @@ -444,7 +444,7 @@ VtolAttitudeControl::land_detected_poll() orb_check(_land_detected_sub, &updated); if (updated) { - orb_copy(ORB_ID(vehicle_land_detected), _land_detected_sub , &_land_detected); + orb_copy(ORB_ID(vehicle_land_detected), _land_detected_sub, &_land_detected); } }