From a9bab81eb85129628b783963a75f74e092da781b Mon Sep 17 00:00:00 2001
From: Martina Rivizzigno <martina@rivizzigno.it>
Date: Sun, 24 Feb 2019 15:34:37 +0100
Subject: [PATCH] make format
---
.../tasks/AutoMapper2/FlightTaskAutoMapper2.cpp | 3 ++-
.../FlightTasks/tasks/Utility/ObstacleAvoidance.cpp | 10 +++++++---
.../FlightTasks/tasks/Utility/ObstacleAvoidance.hpp | 4 ++--
3 files changed, 11 insertions(+), 6 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
index e2d47bc8ba..23c5748a2b 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
@@ -97,7 +97,8 @@ bool FlightTaskAutoMapper2::update()
break;
}
- _obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _yawspeed_setpoint);
+ _obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+ _yawspeed_setpoint);
_generateSetpoints();
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
index 1fbe629aec..78a9475076 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
@@ -52,15 +52,19 @@ ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
}
-void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp) {
+void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
+ float &yaw_speed_sp)
+{
if (!COM_OBS_AVOID.get()) {
return;
}
_sub_vehicle_trajectory_waypoint.update();
- const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
- const bool avoidance_point_valid = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
+ const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) >
+ TRAJECTORY_STREAM_TIMEOUT_US;
+ const bool avoidance_point_valid =
+ _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
if (!avoidance_data_timeout && avoidance_point_valid) {
pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index 304cbc40f5..64c18645a0 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -53,11 +53,11 @@ public:
ObstacleAvoidance(ModuleParams *parent);
~ObstacleAvoidance() = default;
- void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
+ void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
private:
- uORB::Subscription<vehicle_trajectory_waypoint_s> _sub_vehicle_trajectory_waypoint{ORB_ID(vehicle_trajectory_waypoint)};
+ uORB::Subscription<vehicle_trajectory_waypoint_s> _sub_vehicle_trajectory_waypoint{ORB_ID(vehicle_trajectory_waypoint)};
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID /**< obstacle avoidance enabled */
--
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