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Copter: flowhold formatting fixes

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This commit is contained in:
Randy Mackay 2018-10-26 15:58:42 +09:00
parent 4eee1fc06a
commit 01c48f6c76
1 changed files with 19 additions and 22 deletions
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7
ArduCopter/mode_flowhold.cpp
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@ -4,7 +4,7 @@
#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED #if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
/* /*
implement FLOWHOLD mode, for position hold using opttical flow implement FLOWHOLD mode, for position hold using optical flow
without rangefinder without rangefinder
*/ */
@ -190,7 +190,6 @@ void Copter::ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stic
ef_output.zero(); ef_output.zero();
} }
ef_output += xy_I; ef_output += xy_I;
ef_output *= copter.aparm.angle_max; ef_output *= copter.aparm.angle_max;
@ -366,7 +365,6 @@ void Copter::ModeFlowHold::run()
} }
} }
/* /*
update height estimate using integrated accelerometer ratio with optical flow update height estimate using integrated accelerometer ratio with optical flow
*/ */
@ -458,7 +456,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
for each axis update the height estimate for each axis update the height estimate
*/ */
float delta_height = 0; float delta_height = 0;
uint8_t total_weight=0; uint8_t total_weight = 0;
float height_estimate = ins_height + height_offset; float height_estimate = ins_height + height_offset;
for (uint8_t i=0; i<2; i++) { for (uint8_t i=0; i<2; i++) {
@ -520,4 +518,3 @@ void Copter::ModeFlowHold::update_height_estimate(void)
} }
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED