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Whitespace tidy

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This commit is contained in:
Martin Budden 2017-07-05 06:36:22 +01:00
parent ee8763bbf1
commit 3d4f0bb137
97 changed files with 555 additions and 555 deletions
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6
src/main/flight/pid.c
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@ -243,7 +243,7 @@ static float crashDtermThreshold;
static float crashGyroThreshold;
void pidInitConfig(const pidProfile_t *pidProfile) {
for(int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
Kp[axis] = PTERM_SCALE * pidProfile->pid[axis].P;
Ki[axis] = ITERM_SCALE * pidProfile->pid[axis].I;
Kd[axis] = DTERM_SCALE * pidProfile->pid[axis].D;
@ -359,7 +359,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint) {
static float previousSetpoint[3];
const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
if(ABS(currentVelocity) > maxVelocity[axis])
if (ABS(currentVelocity) > maxVelocity[axis])
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
previousSetpoint[axis] = currentPidSetpoint;
@ -383,7 +383,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
float currentPidSetpoint = getSetpointRate(axis);
if(maxVelocity[axis])
if (maxVelocity[axis])
currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
// Yaw control is GYRO based, direct sticks control is applied to rate PID