From a4e3d945322e2237199188ed15333704c221e5ef Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Nov 2019 22:12:47 +0300 Subject: [PATCH] Format fixes --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 1 + src/modules/land_detector/MulticopterLandDetector.cpp | 4 ++-- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index d3f754a72df3..b53b27e4223e 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -378,6 +378,7 @@ void AttitudeEstimatorQ::task_main() // Check for timeouts on data if (_ext_hdg_mode == 1) { _ext_hdg_good = vision.timestamp > 0 && (hrt_elapsed_time(&vision.timestamp) < 500000); + } else if (_ext_hdg_mode == 2) { _ext_hdg_good = mocap.timestamp > 0 && (hrt_elapsed_time(&mocap.timestamp) < 500000); } diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index e81282dd6c4d..ec208568ebc1 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -167,12 +167,12 @@ bool MulticopterLandDetector::_get_ground_contact_state() hrt_elapsed_time(&_distance_sensor.timestamp) < 200_ms && _distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING && _distance_sensor.current_distance <= _distance_sensor.max_distance && - _distance_sensor.current_distance >= _distance_sensor.min_distance) - { + _distance_sensor.current_distance >= _distance_sensor.min_distance) { // rangefinder data is valid if (_distance_sensor.current_distance <= _params.clearance) { return true; } + // rangefinder says we're not landed, but we still try another conditions } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index cd27a6909003..d698c8681141 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -2485,7 +2485,7 @@ void MavlinkReceiver::handle_message_statustext(mavlink_message_t *msg) log_message.timestamp = hrt_absolute_time(); snprintf((char *)log_message.text, sizeof(log_message.text), - "[mavlink: component %d] %." STRINGIFY(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) "s", msg->compid, statustext.text); + "[mavlink: component %d] %." STRINGIFY(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) "s", msg->compid, statustext.text); if (_log_message_pub == nullptr) { _log_message_pub = orb_advertise(ORB_ID(log_message), &log_message);