From 25eba0c383a6160710b7e946b89a7e6596b2091d Mon Sep 17 00:00:00 2001
From: uncrustify <pat@moreproductive.org>
Date: Thu, 16 Aug 2012 23:20:59 -0700
Subject: [PATCH] uncrustify libraries/AP_PID/AP_PID.cpp

---
 libraries/AP_PID/AP_PID.cpp | 68 ++++++++++++++++++-------------------
 1 file changed, 34 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_PID/AP_PID.cpp b/libraries/AP_PID/AP_PID.cpp
index ed3541561b..a4f4c12bef 100644
--- a/libraries/AP_PID/AP_PID.cpp
+++ b/libraries/AP_PID/AP_PID.cpp
@@ -14,52 +14,52 @@ AP_PID::AP_PID()
 long
 AP_PID::get_pid(int32_t error, uint16_t dt, float scaler)
 {
-	float output		= 0;
- 	float delta_time	= (float)dt / 1000.0;
+    float output            = 0;
+    float delta_time        = (float)dt / 1000.0;
 
-	// Compute proportional component
-	output += error * _kp;
+    // Compute proportional component
+    output += error * _kp;
 
-	// Compute derivative component if time has elapsed
-	if ((fabs(_kd) > 0) && (dt > 0)) {
-		float derivative = (error - _last_error) / delta_time;
+    // Compute derivative component if time has elapsed
+    if ((fabs(_kd) > 0) && (dt > 0)) {
+        float derivative = (error - _last_error) / delta_time;
 
-		// discrete low pass filter, cuts out the
-		// high frequency noise that can drive the controller crazy
-		float RC = 1/(2*M_PI*_fCut);
-		derivative = _last_derivative +
-		        (delta_time / (RC + delta_time)) * (derivative - _last_derivative);
+        // discrete low pass filter, cuts out the
+        // high frequency noise that can drive the controller crazy
+        float RC = 1/(2*M_PI*_fCut);
+        derivative = _last_derivative +
+                     (delta_time / (RC + delta_time)) * (derivative - _last_derivative);
 
-		// update state
-		_last_error 		= error;
-		_last_derivative    = derivative;
+        // update state
+        _last_error             = error;
+        _last_derivative    = derivative;
 
-		// add in derivative component
-		output 				+= _kd * derivative;
-	}
+        // add in derivative component
+        output                          += _kd * derivative;
+    }
 
-	// scale the P and D components
-	output *= scaler;
+    // scale the P and D components
+    output *= scaler;
 
-	// Compute integral component if time has elapsed
-	if ((fabs(_ki) > 0) && (dt > 0)) {
-		_integrator 		+= (error * _ki) * scaler * delta_time;
-		if (_integrator < -_imax) {
-			_integrator = -_imax;
-		} else if (_integrator > _imax) {
-			_integrator = _imax;
-		}
-		output 				+= _integrator;
-	}
+    // Compute integral component if time has elapsed
+    if ((fabs(_ki) > 0) && (dt > 0)) {
+        _integrator             += (error * _ki) * scaler * delta_time;
+        if (_integrator < -_imax) {
+            _integrator = -_imax;
+        } else if (_integrator > _imax) {
+            _integrator = _imax;
+        }
+        output                          += _integrator;
+    }
 
-	return output;
+    return output;
 }
 
 void
 AP_PID::reset_I()
 {
-	_integrator = 0;
-	_last_error = 0;
-	_last_derivative = 0;
+    _integrator = 0;
+    _last_error = 0;
+    _last_derivative = 0;
 }