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Update navigation.c

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Remove white space
This commit is contained in:
breadoven 2021-02-10 22:45:30 +00:00
parent 337056a8eb
commit 3706a0928b
1 changed files with 3 additions and 3 deletions
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src/main/navigation/navigation.c
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@ -1155,7 +1155,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
// Spiral climb centered at xy of RTH activation // Spiral climb centered at xy of RTH activation
calculateInitialHoldPosition(&targetHoldPos); calculateInitialHoldPosition(&targetHoldPos);
} else { } else {
calculateFarAwayTarget(&targetHoldPos, posControl.actualState.yaw, 100000.0f); // 1km away Linear climb calculateFarAwayTarget(&targetHoldPos, posControl.actualState.yaw, 100000.0f); // 1km away Linear climb
} }
} else { } else {
// Multicopter, hover and climb // Multicopter, hover and climb
@ -2003,10 +2003,10 @@ float navPidApply3(
pid->integrator = newIntegrator; pid->integrator = newIntegrator;
} }
} }
if (pidFlags & PID_LIMIT_INTEGRATOR) { if (pidFlags & PID_LIMIT_INTEGRATOR) {
pid->integrator = constrainf(pid->integrator, outMin, outMax); pid->integrator = constrainf(pid->integrator, outMin, outMax);
} }
return outValConstrained; return outValConstrained;
} }