【类 型】：style

【原  因】：
【过  程】：
【影  响】：

lib/mavlink/mavlink_helpers.h

@@ -75,7 +75,6 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
 	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 }
 
-
 /**
  * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
  */
@@ -161,7 +160,8 @@ MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlin
 	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
 }
 
-union __mavlink_bitfield {
+union __mavlink_bitfield
+{
 	uint8_t uint8;
 	int8_t int8;
 	uint16_t uint16;
@@ -170,7 +170,6 @@ union __mavlink_bitfield {
 	int32_t int32;
 };
 
-
 MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t *msg)
 {
 	crc_init(&msg->checksum);
@@ -305,7 +304,8 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 		break;
 
 	case MAVLINK_PARSE_STATE_GOT_MSGID:
-		_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
+		_MAV_PAYLOAD_NON_CONST(rxmsg)
+		[status->packet_idx++] = (char)c;
 		mavlink_update_checksum(rxmsg, c);
 		if (status->packet_idx == rxmsg->len)
 		{
@@ -317,7 +317,8 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 #if MAVLINK_CRC_EXTRA
 		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
 #endif
-		if (c != (rxmsg->checksum & 0xFF)) {
+		if (c != (rxmsg->checksum & 0xFF))
+		{
 			// Check first checksum byte
 			status->parse_error++;
 			status->msg_received = 0;
@@ -332,12 +333,14 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 		else
 		{
 			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
+			_MAV_PAYLOAD_NON_CONST(rxmsg)
+			[status->packet_idx] = (char)c;
 		}
 		break;
 
 	case MAVLINK_PARSE_STATE_GOT_CRC1:
-		if (c != (rxmsg->checksum >> 8)) {
+		if (c != (rxmsg->checksum >> 8))
+		{
 			// Check second checksum byte
 			status->parse_error++;
 			status->msg_received = 0;
@@ -354,7 +357,8 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 			// Successfully got message
 			status->msg_received = 1;
 			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
+			_MAV_PAYLOAD_NON_CONST(rxmsg)
+			[status->packet_idx + 1] = (char)c;
 			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
 		}
 		break;
@@ -371,7 +375,8 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 		// }
 		status->current_rx_seq = rxmsg->seq;
 		// Initial condition: If no packet has been received so far, drop count is undefined
-		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+		if (status->packet_rx_success_count == 0)
+			status->packet_rx_drop_count = 0;
 		// Count this packet as received
 		status->packet_rx_success_count++;
 	}
@@ -400,7 +405,8 @@ MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t
 	int32_t v;
 	uint8_t i_bit_index, i_byte_index, curr_bits_n;
 #if MAVLINK_NEED_BYTE_SWAP
-	union {
+	union
+	{
 		int32_t i;
 		uint8_t b[4];
 	} bin, bout;
@@ -480,7 +486,8 @@ MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t
 
 	*r_bit_index = i_bit_index;
 	// If a partly filled byte is present, mark this as consumed
-	if (i_bit_index != 7) i_byte_index++;
+	if (i_bit_index != 7)
+		i_byte_index++;
 	return i_byte_index - packet_index;
 }
 
@@ -516,7 +523,8 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
 #else
 	/* fallback to one byte at a time */
 	uint16_t i;
-	for (i = 0; i < len; i++) {
+	for (i = 0; i < len; i++)
+	{
 		comm_send_ch(chan, (uint8_t)buf[i]);
 	}
 #endif

src/commser.cpp

@@ -377,8 +377,8 @@ void mavlink_receiveCallback(uint8_t c)
       mavlink_msg_gps_global_origin_decode(&msg, &gps_org); // 解构msg数据
       // home点经纬高
       sprintf(buf, "{\"lng\":%d,\"lat\":%d,\"alt\":%.2f}",
-              gps_org.latitude,
               gps_org.longitude,
+              gps_org.latitude,
               (double)gps_org.altitude / 1000);
 
       if (topicPubMsg[17] != buf)
@@ -494,7 +494,7 @@ void mavlink_receiveCallback(uint8_t c)
         topicPubMsg[1] = buf;
       }
       // 电流
-      sprintf(buf, "%.2f", (double)sys_status.current_battery / 100);
+      sprintf(buf, "%.2f", (double)sys_status.current_battery / 100); // 解构中 1=10毫安  所以这里/100 最终单位是A 安培
       if (topicPubMsg[2] != buf)
       {
         topicPubMsg[2] = buf;