HelloDrone: Fix variable naming to align with convention

microsoft · Mar 5, 2021 · ede1459 · ede1459
1 parent 596e586
commit ede1459
Showing 1 changed file with 16 additions and 10 deletions.
diff --git a/HelloDrone/main.cpp b/HelloDrone/main.cpp
@@ -27,8 +27,10 @@ int main()
     try {
         client.confirmConnection();
 
-        std::cout << "Press Enter to get FPV image" << std::endl; std::cin.get();
-        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
+        std::cout << "Press Enter to get FPV image" << std::endl;
+        std::cin.get();
+
+        vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
         const vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 
@@ -56,7 +58,9 @@ int main()
             }
         }
 
-        std::cout << "Press Enter to arm the drone" << std::endl; std::cin.get();
+        std::cout << "Press Enter to arm the drone" << std::endl;
+        std::cin.get();
+
         client.enableApiControl(true);
         client.armDisarm(true);
 
@@ -91,8 +95,8 @@ int main()
             // << "magnetometer_data.magnetic_field_covariance" << magnetometer_data.magnetic_field_covariance // not implemented in sensor
 
         std::cout << "Press Enter to takeoff" << std::endl; std::cin.get();
-        float takeoffTimeout = 5; 
-        client.takeoffAsync(takeoffTimeout)->waitOnLastTask();
+        float takeoff_timeout = 5; 
+        client.takeoffAsync(takeoff_timeout)->waitOnLastTask();
 
         // switch to explicit hover mode so that this is the fall back when 
         // move* commands are finished.
@@ -102,24 +106,26 @@ int main()
         std::cout << "Press Enter to fly in a 10m box pattern at 3 m/s velocity" << std::endl; std::cin.get();
         // moveByVelocityZ is an offboard operation, so we need to set offboard mode.
         client.enableApiControl(true); 
+
         auto position = client.getMultirotorState().getPosition();
         float z = position.z(); // current position (NED coordinate system).  
         const float speed = 3.0f;
         const float size = 10.0f; 
         const float duration = size / speed;
-        DrivetrainType driveTrain = DrivetrainType::ForwardOnly;
+        DrivetrainType drivetrain = DrivetrainType::ForwardOnly;
         YawMode yaw_mode(true, 0);
+
         std::cout << "moveByVelocityZ(" << speed << ", 0, " << z << "," << duration << ")" << std::endl;
-        client.moveByVelocityZAsync(speed, 0, z, duration, driveTrain, yaw_mode);
+        client.moveByVelocityZAsync(speed, 0, z, duration, drivetrain, yaw_mode);
         std::this_thread::sleep_for(std::chrono::duration<double>(duration));
         std::cout << "moveByVelocityZ(0, " << speed << "," << z << "," << duration << ")" << std::endl;
-        client.moveByVelocityZAsync(0, speed, z, duration, driveTrain, yaw_mode);
+        client.moveByVelocityZAsync(0, speed, z, duration, drivetrain, yaw_mode);
         std::this_thread::sleep_for(std::chrono::duration<double>(duration));
         std::cout << "moveByVelocityZ(" << -speed << ", 0, " << z << "," << duration << ")" << std::endl;
-        client.moveByVelocityZAsync(-speed, 0, z, duration, driveTrain, yaw_mode);
+        client.moveByVelocityZAsync(-speed, 0, z, duration, drivetrain, yaw_mode);
         std::this_thread::sleep_for(std::chrono::duration<double>(duration));
         std::cout << "moveByVelocityZ(0, " << -speed << "," << z << "," << duration << ")" << std::endl;
-        client.moveByVelocityZAsync(0, -speed, z, duration, driveTrain, yaw_mode);
+        client.moveByVelocityZAsync(0, -speed, z, duration, drivetrain, yaw_mode);
         std::this_thread::sleep_for(std::chrono::duration<double>(duration));
 
         client.hoverAsync()->waitOnLastTask();