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Fixed code style for multirotor_att_control app

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This commit is contained in:
Lorenz Meier
2013-01-11 07:45:24 +01:00
parent cf563eda86
commit cded2787f0
5 changed files with 51 additions and 25 deletions
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apps/multirotor_att_control/multirotor_rate_control.c
+8 -2
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@@ -148,7 +148,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
}
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last = 0;
static float pitch_control_last = 0;
@@ -157,6 +157,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static uint64_t last_input = 0;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
@@ -186,12 +187,14 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
warnx("rej. NaN ctrl pitch");
@@ -199,9 +202,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control roll (left/right) output */
float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
warnx("rej. NaN ctrl roll");
@@ -209,6 +214,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
if (!isfinite(yaw_rate_control)) {
yaw_rate_control = 0.0f;