yemai/bizhang_-obav
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Ran Astyle

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This commit is contained in:
David Sidrane
2015-06-04 03:27:40 -10:00
parent 3f56892950
commit 2d796f408d
3 changed files with 97 additions and 80 deletions
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6
src/modules/uavcan/uavcan_main.cpp
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@@ -217,7 +217,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
warnx("start failed: %d", errno);
@@ -425,8 +425,7 @@ int UavcanNode::run()
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
if (busevent_fd < 0)
{
if (busevent_fd < 0) {
warnx("Failed to open %s", uavcan_stm32::BusEvent::DevName);
_task_should_exit = true;
}
@@ -515,6 +514,7 @@ int UavcanNode::run()
// can we mix?
if (_test_in_progress) {
memset(&_outputs, 0, sizeof(_outputs));
if (_test_motor.motor_number < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
_outputs.output[_test_motor.motor_number] = _test_motor.value * 2.0f - 1.0f;
_outputs.noutputs = _test_motor.motor_number + 1;