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mavlink : fix code style

sbg
Kabir Mohammed 8 years ago committed by Lorenz Meier
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444005f290
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d831c262d0
1 changed files with 13 additions and 11 deletions
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  1. 8
      src/modules/mavlink/mavlink_receiver.cpp

8
src/modules/mavlink/mavlink_receiver.cpp
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@ -1131,7 +1131,7 @@ MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg)
vision_position.az = pos.az; vision_position.az = pos.az;
// Low risk change for now. TODO : full covariance matrix // 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.epv = sqrtf(pos.covariance[17]);
vision_position.xy_global = globallocalconverter_initialized(); vision_position.xy_global = globallocalconverter_initialized();
@ -1173,8 +1173,10 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
vision_attitude.q[3] = q(3); vision_attitude.q[3] = q(3);
int instance_id = 0; 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_position), &_vision_position_pub, &vision_position, &instance_id,
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_DEFAULT); ORB_PRIO_DEFAULT);
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id,
ORB_PRIO_DEFAULT);
} }
void void

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