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Whitespace tidy

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This commit is contained in:
Martin Budden 2017-07-05 07:42:07 +01:00
parent f4850845df
commit fd7d770fb1
101 changed files with 448 additions and 448 deletions
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4
src/main/flight/imu.c
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@ -343,7 +343,7 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
}
// Compute and apply integral feedback if enabled
if(imuRuntimeConfig.dcm_ki_mag > 0.0f) {
if (imuRuntimeConfig.dcm_ki_mag > 0.0f) {
// Stop integrating if spinning beyond the certain limit
if (spin_rate_sq < sq(DEGREES_TO_RADIANS(SPIN_RATE_LIMIT))) {
integralMagX += imuRuntimeConfig.dcm_ki_mag * ex * dt; // integral error scaled by Ki
@ -382,7 +382,7 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
ez = (ax * rMat[2][1] - ay * rMat[2][0]);
// Compute and apply integral feedback if enabled
if(imuRuntimeConfig.dcm_ki_acc > 0.0f) {
if (imuRuntimeConfig.dcm_ki_acc > 0.0f) {
// Stop integrating if spinning beyond the certain limit
if (spin_rate_sq < sq(DEGREES_TO_RADIANS(SPIN_RATE_LIMIT))) {
integralAccX += imuRuntimeConfig.dcm_ki_acc * ex * dt; // integral error scaled by Ki