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White space tidy

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This commit is contained in:
jflyper 2020-02-15 14:59:11 +09:00 • committed by mikeller
parent d25c852098
commit ff16686893
58 changed files with 310 additions and 310 deletions
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10
src/main/flight/mixer.c
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@ -610,7 +610,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate);
DEBUG_SET(DEBUG_DYN_IDLE, 2, error);
DEBUG_SET(DEBUG_DYN_IDLE, 3, minRps);
}
#endif
currentThrottleInputRange = rcCommandThrottleRange;
@ -679,14 +679,14 @@ static void applyFlipOverAfterCrashModeToMotors(void)
signPitch*currentMixer[i].pitch +
signRoll*currentMixer[i].roll +
signYaw*currentMixer[i].yaw;
if (motorOutputNormalised < 0) {
if (mixerConfig()->crashflip_motor_percent > 0) {
motorOutputNormalised = -motorOutputNormalised * (float)mixerConfig()->crashflip_motor_percent / 100.0f;
} else {
motorOutputNormalised = 0;
}
}
}
motorOutputNormalised = MIN(1.0f, flipPower * motorOutputNormalised);
float motorOutput = motorOutputMin + motorOutputNormalised * motorOutputRange;
@ -801,7 +801,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
activeMixer = &launchControlMixer[0];
}
#endif
// Calculate and Limit the PID sum
const float scaledAxisPidRoll =
constrainf(pidData[FD_ROLL].Sum, -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
@ -838,7 +838,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
// 50% throttle provides the maximum authority for yaw recovery when airmode is not active.
// When airmode is active the throttle setting doesn't impact recovery authority.
if (yawSpinDetected && !airmodeEnabled) {
throttle = 0.5f; //
throttle = 0.5f; //
}
#endif // USE_YAW_SPIN_RECOVERY