From c1ba7ab62b5d2653e2898606bf82f5fa88371439 Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 22 Jun 2016 11:14:35 +0200 Subject: [PATCH] vtol attitude control: fixed code style Signed-off-by: tumbili --- src/modules/vtol_att_control/standard.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index e1343a85a6..e54e0a5bb5 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -188,7 +188,7 @@ void Standard::update_vtol_state() } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode if (((_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED || - _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) && + _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) && (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_time_min * 1000000.0f)) || can_transition_on_ground()) { @@ -250,11 +250,13 @@ void Standard::update_transition_state() _mc_yaw_weight = weight; _mc_throttle_weight = weight; - // time based blending when no airspeed sensor is set + // time based blending when no airspeed sensor is set + } else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED && - (float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f) - ) { - float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_time_min * 1000000.0f)); + (float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f) + ) { + float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) / + (_params_standard.front_trans_time_min * 1000000.0f)); _mc_roll_weight = weight; _mc_pitch_weight = weight; _mc_yaw_weight = weight;