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APMrover2: fix indentation leading to compiler warning 

GCC 6 has a new warning about misleading indentation:

../../APMrover2/system.cpp: In member function ‘void Rover::set_mode(mode)’:
../../APMrover2/system.cpp:272:5: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
     if (control_mode == AUTO)
     ^~
../../APMrover2/system.cpp:275:2: note: ...this statement, but the^Bn latter is misleadingly indented as if it is guarded by the ‘if’
  control_mode = mode;
  ^~~~~~~~~~~~

The issue here is that we are mixing tabs and spaces. Remove tabs and re-indent
the code.
master
Lucas De Marchi 9 years ago
parent
7af888633d
commit
368a72044c
1 changed files with 114 additions and 114 deletions
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  1. 228
      APMrover2/system.cpp

228
APMrover2/system.cpp
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@ -1,8 +1,8 @@ @@ -1,8 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
The init_ardupilot function processes everything we need for an in - air restart
We will determine later if we are actually on the ground and process a
ground start in that case.
We will determine later if we are actually on the ground and process a
ground start in that case.
*****************************************************************************/
@ -14,26 +14,26 @@ The init_ardupilot function processes everything we need for an in - air restart @@ -14,26 +14,26 @@ The init_ardupilot function processes everything we need for an in - air restart
// This is the help function
int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n");
return(0);
cliSerial->printf("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n");
return(0);
}
// Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] = {
// command function called
// command function called
// ======= ===============
{"logs", MENU_FUNC(process_logs)},
{"setup", MENU_FUNC(setup_mode)},
{"test", MENU_FUNC(test_mode)},
{"logs", MENU_FUNC(process_logs)},
{"setup", MENU_FUNC(setup_mode)},
{"test", MENU_FUNC(test_mode)},
{"reboot", MENU_FUNC(reboot_board)},
{"help", MENU_FUNC(main_menu_help)}
{"help", MENU_FUNC(main_menu_help)}
};
// Create the top-level menu object.
@ -80,14 +80,14 @@ void Rover::init_ardupilot() @@ -80,14 +80,14 @@ void Rover::init_ardupilot()
// initialise console serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
hal.util->available_memory());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
load_parameters();
BoardConfig.init();
@ -108,11 +108,11 @@ void Rover::init_ardupilot() @@ -108,11 +108,11 @@ void Rover::init_ardupilot()
// init baro before we start the GCS, so that the CLI baro test works
barometer.init();
// init the GCS
// init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
usb_connected = true;
check_usb_mux();
@ -130,7 +130,7 @@ void Rover::init_ardupilot() @@ -130,7 +130,7 @@ void Rover::init_ardupilot()
frsky_telemetry.init(serial_manager);
#endif
mavlink_system.sysid = g.sysid_this_mav;
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
@ -142,29 +142,29 @@ void Rover::init_ardupilot() @@ -142,29 +142,29 @@ void Rover::init_ardupilot()
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!");
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
}
}
}
// initialise sonar
// initialise sonar
init_sonar();
// and baro for EKF
init_barometer();
// Do GPS init
// Do GPS init
gps.init(&DataFlash, serial_manager);
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
relay.init();
@ -181,12 +181,12 @@ void Rover::init_ardupilot() @@ -181,12 +181,12 @@ void Rover::init_ardupilot()
#if CLI_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
@ -199,15 +199,15 @@ void Rover::init_ardupilot() @@ -199,15 +199,15 @@ void Rover::init_ardupilot()
}
#endif
init_capabilities();
init_capabilities();
startup_ground();
startup_ground();
set_mode((enum mode)g.initial_mode.get());
// set the correct flight mode
// ---------------------------
reset_control_switch();
// set the correct flight mode
// ---------------------------
reset_control_switch();
}
//********************************************************************************
@ -216,23 +216,23 @@ void Rover::init_ardupilot() @@ -216,23 +216,23 @@ void Rover::init_ardupilot()
void Rover::startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000);
#endif
gcs_send_text(MAV_SEVERITY_INFO,"<startup_ground> Ground start");
#if(GROUND_START_DELAY > 0)
gcs_send_text(MAV_SEVERITY_NOTICE,"<startup_ground> With delay");
delay(GROUND_START_DELAY * 1000);
#endif
//IMU ground start
//------------------------
//IMU ground start
//------------------------
//
startup_INS_ground();
startup_INS_ground();
// read the radio to set trims
// ---------------------------
trim_radio();
// read the radio to set trims
// ---------------------------
trim_radio();
// initialise mission library
mission.init();
@ -244,7 +244,7 @@ void Rover::startup_ground(void) @@ -244,7 +244,7 @@ void Rover::startup_ground(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
gcs_send_text(MAV_SEVERITY_INFO,"Ready to drive");
}
/*
@ -256,23 +256,24 @@ void Rover::set_reverse(bool reverse) @@ -256,23 +256,24 @@ void Rover::set_reverse(bool reverse)
if (in_reverse == reverse) {
return;
}
g.pidSpeedThrottle.reset_I();
g.pidSpeedThrottle.reset_I();
in_reverse = reverse;
}
void Rover::set_mode(enum mode mode)
{
{
if(control_mode == mode){
// don't switch modes if we are already in the correct mode.
return;
}
if (control_mode == mode){
// don't switch modes if we are already in the correct mode.
return;
}
// If we are changing out of AUTO mode reset the loiter timer
if (control_mode == AUTO)
if (control_mode == AUTO) {
loiter_time = 0;
}
control_mode = mode;
control_mode = mode;
throttle_last = 0;
throttle = 500;
set_reverse(false);
@ -281,45 +282,44 @@ void Rover::set_mode(enum mode mode) @@ -281,45 +282,44 @@ void Rover::set_mode(enum mode mode)
if (control_mode != AUTO) {
auto_triggered = false;
}
switch(control_mode)
{
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
auto_throttle_mode = false;
break;
case AUTO:
auto_throttle_mode = true;
rtl_complete = false;
restart_nav();
break;
case RTL:
auto_throttle_mode = true;
do_RTL();
break;
case GUIDED:
auto_throttle_mode = true;
rtl_complete = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code.
*/
guided_WP = current_loc;
set_guided_WP();
break;
default:
auto_throttle_mode = true;
do_RTL();
break;
}
switch(control_mode) {
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
auto_throttle_mode = false;
break;
case AUTO:
auto_throttle_mode = true;
rtl_complete = false;
restart_nav();
break;
case RTL:
auto_throttle_mode = true;
do_RTL();
break;
case GUIDED:
auto_throttle_mode = true;
rtl_complete = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code.
*/
guided_WP = current_loc;
set_guided_WP();
break;
default:
auto_throttle_mode = true;
do_RTL();
break;
}
if (should_log(MASK_LOG_MODE)) {
if (should_log(MASK_LOG_MODE)) {
DataFlash.Log_Write_Mode(control_mode);
}
}
@ -344,7 +344,7 @@ bool Rover::mavlink_set_mode(uint8_t mode) @@ -344,7 +344,7 @@ bool Rover::mavlink_set_mode(uint8_t mode)
}
/*
called to set/unset a failsafe event.
called to set/unset a failsafe event.
*/
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
{
@ -365,8 +365,8 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on) @@ -365,8 +365,8 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
failsafe.triggered &= failsafe.bits;
if (failsafe.triggered == 0 &&
failsafe.bits != 0 &&
if (failsafe.triggered == 0 &&
failsafe.bits != 0 &&
millis() - failsafe.start_time > g.fs_timeout*1000 &&
control_mode != RTL &&
control_mode != HOLD) {
@ -388,15 +388,15 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on) @@ -388,15 +388,15 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
void Rover::startup_INS_ground(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Warming up ADC");
mavlink_delay(500);
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
// Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
// -----------------------
gcs_send_text(MAV_SEVERITY_INFO, "Beginning INS calibration. Do not move vehicle");
mavlink_delay(1000);
mavlink_delay(1000);
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_fly_forward(true);
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ins.init(scheduler.get_loop_rate_hz());
@ -411,9 +411,9 @@ void Rover::update_notify() @@ -411,9 +411,9 @@ void Rover::update_notify()
}
void Rover::resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;
perf_mon_timer = millis();
mainLoop_count = 0;
G_Dt_max = 0;
perf_mon_timer = millis();
}

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