From d831c262d089d0192fcbfa5f524745593e40131f Mon Sep 17 00:00:00 2001 From: Kabir Mohammed Date: Sun, 8 Jan 2017 19:22:38 +0530 Subject: [PATCH] mavlink : fix code style --- src/modules/mavlink/mavlink_receiver.cpp | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 84c3ce54f5..6fd944a603 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1064,7 +1064,7 @@ MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg) { mavlink_gps_global_origin_t origin; mavlink_msg_gps_global_origin_decode(msg, &origin); - + if (!globallocalconverter_initialized()) { /* Set reference point conversion of local coordiantes <--> global coordinates */ globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7, @@ -1079,7 +1079,7 @@ MavlinkReceiver::handle_message_attitude_quaternion_cov(mavlink_message_t *msg) { mavlink_attitude_quaternion_cov_t att; mavlink_msg_attitude_quaternion_cov_decode(msg, &att); - + struct vehicle_attitude_s vision_attitude = {}; vision_attitude.timestamp = sync_stamp(att.time_usec); @@ -1107,12 +1107,12 @@ MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg) mavlink_msg_local_position_ned_cov_decode(msg, &pos); struct vehicle_local_position_s vision_position = {}; - + vision_position.timestamp = sync_stamp(pos.time_usec); - + // Use the estimator type to identify the external estimate vision_position.estimator_type = pos.estimator_type; - + vision_position.xy_valid = true; vision_position.z_valid = true; vision_position.v_xy_valid = true; @@ -1125,22 +1125,22 @@ MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg) vision_position.vx = pos.vx; vision_position.vy = pos.vy; vision_position.vz = pos.vz; - + vision_position.ax = pos.ax; vision_position.ay = pos.ay; vision_position.az = pos.az; // Low risk change for now. TODO : full covariance matrix - vision_position.eph = sqrtf(fmaxf(pos.covariance[0],pos.covariance[9])); + vision_position.eph = sqrtf(fmaxf(pos.covariance[0], pos.covariance[9])); vision_position.epv = sqrtf(pos.covariance[17]); - + vision_position.xy_global = globallocalconverter_initialized(); vision_position.z_global = globallocalconverter_initialized(); vision_position.ref_timestamp = _global_ref_timestamp; globallocalconverter_getref(&vision_position.ref_lat, &vision_position.ref_lon, &vision_position.ref_alt); vision_position.dist_bottom_valid = false; - + int instance_id = 0; orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_HIGH); @@ -1173,8 +1173,10 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) vision_attitude.q[3] = q(3); int instance_id = 0; - orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_DEFAULT); - orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_DEFAULT); + orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, + ORB_PRIO_DEFAULT); + orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, + ORB_PRIO_DEFAULT); } void