Mirrors_Framework/PX4-Autopilot
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code style, warnings

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This commit is contained in:
Holger Steinhaus
2014-11-12 09:52:35 +01:00
parent 0800fa4715
commit 7bc9a62577
3 changed files with 19 additions and 22 deletions
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src/modules/uavcan/actuators/esc.cpp
+7 -6
View File
@@ -113,8 +113,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
msg.cmd.push_back(static_cast<int>(scaled));
_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
}
else {
} else {
msg.cmd.push_back(static_cast<unsigned>(0));
}
}
@@ -128,18 +127,20 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
void UavcanEscController::arm_all_escs(bool arm)
{
if (arm)
if (arm) {
_armed_mask = -1;
else
} else {
_armed_mask = 0;
}
}
void UavcanEscController::arm_single_esc(int num, bool arm)
{
if (arm)
if (arm) {
_armed_mask = MOTOR_BIT(num);
else
} else {
_armed_mask = 0;
}
}
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
src/modules/uavcan/uavcan_main.cpp
+4 -5
View File
@@ -346,13 +346,12 @@ int UavcanNode::run()
// can we mix?
if (_test_in_progress) {
float outputs[NUM_ACTUATOR_OUTPUTS] = {};
outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
float test_outputs[NUM_ACTUATOR_OUTPUTS] = {};
test_outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
// Output to the bus
_esc_controller.update_outputs(outputs, NUM_ACTUATOR_OUTPUTS);
}
else if (controls_updated && (_mixers != nullptr)) {
_esc_controller.update_outputs(test_outputs, NUM_ACTUATOR_OUTPUTS);
} else if (controls_updated && (_mixers != nullptr)) {
// XXX one output group has 8 outputs max,
// but this driver could well serve multiple groups.
src/systemcmds/motor_test/motor_test.c
+8 -11
View File
@@ -67,19 +67,15 @@ void motor_test(unsigned channel, float value)
_test_motor.timestamp = hrt_absolute_time();
_test_motor.value = value;
if (_test_motor_pub > 0) {
/* publish armed state */
orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
} else {
/* advertise and publish */
_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
}
_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
}
static void usage(const char *reason)
{
if (reason != NULL)
if (reason != NULL) {
warnx("%s", reason);
}
errx(1,
"usage:\n"
@@ -90,8 +86,9 @@ static void usage(const char *reason)
int motor_test_main(int argc, char *argv[])
{
unsigned long channel, lval;
float value;
unsigned long channel = 0;
unsigned long lval;
float value = 0.0f;
int ch;
if (argc != 5) {
@@ -122,7 +119,7 @@ int motor_test_main(int argc, char *argv[])
motor_test(channel, value);
printf("motor %d set to %.2f\n", channel, value);
printf("motor %d set to %.2f\n", channel, (double)value);
exit(0);
}