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format code properly

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match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
This commit is contained in:
treymarc 2014-05-08 00:36:19 +00:00
parent ac4835ef67
commit 1f293795e7
26 changed files with 99 additions and 109 deletions
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6
src/mw.c
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@ -363,9 +363,9 @@ static void pidRewrite(void)
}
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
} else {
} else {
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
AngleRateTmp = ((int32_t)(cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;
@ -625,7 +625,7 @@ void loop(void)
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50;
AccInflightCalibrationActive = true;
AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true;