Merge branch 'master' of https://github.com/Microsoft/AirSim

enterstudio · Mar 29, 2018 · 95c285a · 95c285a
2 parents 417ebe5 + 03e977f
commit 95c285a
Show file tree

Hide file tree

Showing 2 changed files with 82 additions and 82 deletions.
diff --git a/AirLib/include/common/common_utils/Utils.hpp b/AirLib/include/common/common_utils/Utils.hpp
@@ -472,7 +472,7 @@ class Utils {
 
     static std::time_t to_time_t(const std::string& str, bool is_dst = false, const std::string& format = "%Y-%m-%d %H:%M:%S")
     {
-        std::tm t = {0};
+        std::tm t;
         t.tm_isdst = is_dst ? 1 : 0;
         std::istringstream ss(str);
         ss >> std::get_time(&t, format.c_str());

diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/AdaptiveController.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/AdaptiveController.hpp
@@ -102,7 +102,7 @@ class AdaptiveController : public IController {
 	double x_0[12];
 	GoalMode last_mode_;
 	//double error[3] = { 0 };
-	double ref_vec[10][3] = { 0 };
+	double ref_vec[10][3] = {{ 0 }};
 	double ref_sum[3] = { 0 };
 	double velocity_integrator[3] = { 0 };
 	static constexpr int array_length = 7;
@@ -180,7 +180,7 @@ class AdaptiveController : public IController {
 
 	void update_goals()
 	{
-		const auto& mode = goal_->getGoalMode();
+		const auto& mode = goal_->getGoalMode();
 		const auto& value = goal_->getGoalValue();
 
 		for (int i = 0; i < 12; i++)
@@ -189,87 +189,87 @@ class AdaptiveController : public IController {
 		}
 		int count1 = 0, count2 = 0, count3 = 0, count4 = 0;
 
-		for (unsigned int axis = 0; axis < Axis4r::AxisCount(); ++axis)
-		{
+		for (unsigned int axis = 0; axis < Axis4r::AxisCount(); ++axis)
+		{
 			switch (mode[axis])
 			{
-			case GoalModeType::AngleRate:
-
-				switch (count1)
-				{
-				case 0:
-					reference[11] = value[axis];
-					break;
-				case 1:
-					reference[9] = value[axis];
-					break;
-				case 2:
-					reference[10] = value[axis];
-					break;
-				}
-				count1++;
-				break;
-			case GoalModeType::AngleLevel:
-
-				switch (count2)
-				{
-				case 0:
-					if (axis == 2)
-					{
-						reference[8] = value[axis];
-					}
-					else
-					{
-						reference[6] = value[axis];
-					}
-					break;
-				case 1:
-					reference[7] = -value[axis];
-					break;
-				case 2:
-					reference[8] = value[axis];
-					break;
-				}
-				count2++;
-				break;
-			case GoalModeType::VelocityWorld:
-
-				switch (count3)
-				{
-				case 0:
-					reference[3] = value[axis];
-					break;
-				case 1:
-					reference[4] = value[axis];
-					break;
-				case 2:
-					reference[5] = value[axis];
-					break;
-				}
-				count3++;
-				break;
-			case GoalModeType::PositionWorld:
-
-				switch (count4)
-				{
-				case 0:
-					if (axis != 0)
-					{
-						reference[2] = value[axis];
-					}
-					else
-					{
-						reference[0] = value[axis];
-					}
-					break;
-				case 1:
-					reference[1] = value[axis];
-					break;
-				case 2:
-					reference[2] = value[axis];
-					break;
-				}
-				count4++;
+			case GoalModeType::AngleRate:
+
+				switch (count1)
+				{
+				case 0:
+					reference[11] = value[axis];
+					break;
+				case 1:
+					reference[9] = value[axis];
+					break;
+				case 2:
+					reference[10] = value[axis];
+					break;
+				}
+				count1++;
+				break;
+			case GoalModeType::AngleLevel:
+
+				switch (count2)
+				{
+				case 0:
+					if (axis == 2)
+					{
+						reference[8] = value[axis];
+					}
+					else
+					{
+						reference[6] = value[axis];
+					}
+					break;
+				case 1:
+					reference[7] = -value[axis];
+					break;
+				case 2:
+					reference[8] = value[axis];
+					break;
+				}
+				count2++;
+				break;
+			case GoalModeType::VelocityWorld:
+
+				switch (count3)
+				{
+				case 0:
+					reference[3] = value[axis];
+					break;
+				case 1:
+					reference[4] = value[axis];
+					break;
+				case 2:
+					reference[5] = value[axis];
+					break;
+				}
+				count3++;
+				break;
+			case GoalModeType::PositionWorld:
+
+				switch (count4)
+				{
+				case 0:
+					if (axis != 0)
+					{
+						reference[2] = value[axis];
+					}
+					else
+					{
+						reference[0] = value[axis];
+					}
+					break;
+				case 1:
+					reference[1] = value[axis];
+					break;
+				case 2:
+					reference[2] = value[axis];
+					break;
+				}
+				count4++;
 				break;
 			default: