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fixed code style

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-09 19:20:55 +02:00
parent 0e481a5d00
commit d4c87d62f1
3 changed files with 6 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -1
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@@ -881,7 +881,8 @@ void Ekf2::task_main()
map_projection_reproject(&ekf_origin, lpos.x, lpos.y, &est_lat, &est_lon);
global_pos.lat = est_lat; // Latitude in degrees
global_pos.lon = est_lon; // Longitude in degrees
map_projection_reproject(&ekf_origin, lpos.x - lpos.delta_xy[0], lpos.y - lpos.delta_xy[1], &lat_pre_reset, &lon_pre_reset);
map_projection_reproject(&ekf_origin, lpos.x - lpos.delta_xy[0], lpos.y - lpos.delta_xy[1], &lat_pre_reset,
&lon_pre_reset);
global_pos.delta_lat_lon[0] = est_lat - lat_pre_reset;
global_pos.delta_lat_lon[1] = est_lon - lon_pre_reset;
global_pos.lat_lon_reset_counter = lpos.xy_reset_counter;
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -1
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@@ -2296,7 +2296,8 @@ FixedwingPositionControl::task_main()
}
// adjust navigation waypoints in position control mode
if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled && _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
_hdg_hold_prev_wp.lat += _global_pos.delta_lat_lon[0];
_hdg_hold_prev_wp.lon += _global_pos.delta_lat_lon[1];
_hdg_hold_curr_wp.lat += _global_pos.delta_lat_lon[0];
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -677,7 +677,8 @@ MulticopterPositionControl::poll_subscriptions()
if (_control_mode.flag_control_manual_enabled) {
if (_heading_reset_counter != _ctrl_state.quat_reset_counter) {
_heading_reset_counter = _ctrl_state.quat_reset_counter;
math::Quaternion delta_q(_ctrl_state.delta_q_reset[0], _ctrl_state.delta_q_reset[1], _ctrl_state.delta_q_reset[2], _ctrl_state.delta_q_reset[3]);
math::Quaternion delta_q(_ctrl_state.delta_q_reset[0], _ctrl_state.delta_q_reset[1], _ctrl_state.delta_q_reset[2],
_ctrl_state.delta_q_reset[3]);
// we only extract the heading change from the delta quaternion
math::Vector<3> delta_euler = delta_q.to_euler();