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AP_Frsky_Telem: added extra parentheses around pointed to values for readability 

As suggested by tridge
master
floaledm 8 years ago committed by Tom Pittenger
parent
328e6d6886
commit
68b10979c3
1 changed files with 9 additions and 9 deletions
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  1. 18
      libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

18
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -112,7 +112,7 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
_passthrough.params_timer = AP_HAL::millis(); _passthrough.params_timer = AP_HAL::millis();
return; return;
} else if ((now - _passthrough.ap_status_timer) > 500) { } else if ((now - _passthrough.ap_status_timer) > 500) {
if ((*_ap.valuep & AP_INITIALIZED_FLAG) > 0) { // send ap status only once vehicle has been initialised if (((*_ap.valuep) & AP_INITIALIZED_FLAG) > 0) { // send ap status only once vehicle has been initialised
send_uint32(DIY_FIRST_ID+1, calc_ap_status()); send_uint32(DIY_FIRST_ID+1, calc_ap_status());
_passthrough.ap_status_timer = AP_HAL::millis(); _passthrough.ap_status_timer = AP_HAL::millis();
} }
@ -572,12 +572,12 @@ uint32_t AP_Frsky_Telem::calc_param(void)
break; break;
case 2: case 2:
if (_params.fs_batt_voltage != nullptr) { if (_params.fs_batt_voltage != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_voltage * 100.0f); // battery failsafe voltage in centivolts param = (uint32_t)roundf((*_params.fs_batt_voltage) * 100.0f); // battery failsafe voltage in centivolts
} }
break; break;
case 3: case 3:
if (_params.fs_batt_mah != nullptr) { if (_params.fs_batt_mah != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_mah); // battery failsafe capacity in mAh param = (uint32_t)roundf((*_params.fs_batt_mah)); // battery failsafe capacity in mAh
} }
break; break;
case 4: case 4:
@ -600,20 +600,20 @@ uint32_t AP_Frsky_Telem::calc_gps_latlng(bool *send_latitude)
const Location &loc = _ahrs.get_gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw) const Location &loc = _ahrs.get_gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
// alternate between latitude and longitude // alternate between latitude and longitude
if (*send_latitude == true) { if ((*send_latitude) == true) {
if (loc.lat < 0) { if (loc.lat < 0) {
latlng = ((abs(loc.lat)/100)*6) | 0x40000000; latlng = ((abs(loc.lat)/100)*6) | 0x40000000;
} else { } else {
latlng = ((abs(loc.lat)/100)*6); latlng = ((abs(loc.lat)/100)*6);
} }
*send_latitude = false; (*send_latitude) = false;
} else { } else {
if (loc.lng < 0) { if (loc.lng < 0) {
latlng = ((abs(loc.lng)/100)*6) | 0xC0000000; latlng = ((abs(loc.lng)/100)*6) | 0xC0000000;
} else { } else {
latlng = ((abs(loc.lng)/100)*6) | 0x80000000; latlng = ((abs(loc.lng)/100)*6) | 0x80000000;
} }
*send_latitude = true; (*send_latitude) = true;
} }
return latlng; return latlng;
} }
@ -668,9 +668,9 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
// control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits) // control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT); ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags // simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.valuep & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET; ap_status |= (uint8_t)((*_ap.valuep) & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag which is the inverse of the land_complete flag // is_flying flag
ap_status |= (uint8_t)((*_ap.valuep & AP_LANDCOMPLETE_FLAG) ^ AP_LANDCOMPLETE_FLAG); ap_status |= (uint8_t)(((*_ap.valuep) & AP_LANDCOMPLETE_FLAG) ^ AP_LANDCOMPLETE_FLAG);
// armed flag // armed flag
ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET;
// battery failsafe flag // battery failsafe flag

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