From c07fd1a360d0f61343d7ae88ab9ec979c22505a5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 30 Jan 2017 14:08:20 +0100 Subject: [PATCH] mc_att_control_main: fix style --- src/modules/mc_att_control/mc_att_control_main.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 493ab037d0..8c3326d91c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -994,14 +994,17 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) // get the raw gyro data and correct for thermal errors math::Vector<3> rates; + if (_selected_gyro == 0) { rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[0]) * _sensor_correction.gyro_scale_0[0]; rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1]; rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2]; + } else if (_selected_gyro == 1) { rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[0]) * _sensor_correction.gyro_scale_1[0]; rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1]; rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2]; + } else if (_selected_gyro == 2) { rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0]; rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];