fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 05:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Mixer: Fix code style

Browse Source
This commit is contained in:
Lorenz Meier
2015-10-19 09:37:01 +02:00
parent a6a3d4891d
commit 25dfa31374
1 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/mixer/mixer_multirotor.cpp
+4 -1
View File
@@ -317,9 +317,10 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
if (out < 0.0f) { if (out < 0.0f) {
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) { if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f; yaw = 0.0f;
} else { } else {
yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) * yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale; roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
} }
if (status_reg != NULL) { if (status_reg != NULL) {
@@ -330,8 +331,10 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
// allow to reduce thrust to get some yaw response // allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f); float thrust_reduction = fminf(0.15f, out - 1.0f);
thrust -= thrust_reduction; thrust -= thrust_reduction;
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) { if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f; yaw = 0.0f;
} else { } else {
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) * yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale; roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;