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Copter: minor format fix for takeoff.cpp

This commit is contained in:
Randy Mackay 2019-11-11 17:18:17 +09:00
parent a4d4513da4
commit 5276e67cec
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/takeoff.cpp
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@ -142,7 +142,7 @@ void Mode::auto_takeoff_set_start_alt(void)
{
// start with our current altitude
auto_takeoff_no_nav_alt_cm = inertial_nav.get_altitude();
if (is_disarmed_or_landed() || !motors->get_interlock()) {
// we are not flying, add the wp_navalt_min
auto_takeoff_no_nav_alt_cm += g2.wp_navalt_min * 100;
@ -157,7 +157,7 @@ void Mode::auto_takeoff_set_start_alt(void)
void Mode::auto_takeoff_attitude_run(float target_yaw_rate)
{
float nav_roll, nav_pitch;
if (g2.wp_navalt_min > 0 && inertial_nav.get_altitude() < auto_takeoff_no_nav_alt_cm) {
// we haven't reached the takeoff navigation altitude yet
nav_roll = 0;
@ -168,7 +168,7 @@ void Mode::auto_takeoff_attitude_run(float target_yaw_rate)
nav_roll = wp_nav->get_roll();
nav_pitch = wp_nav->get_pitch();
}
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(nav_roll, nav_pitch, target_yaw_rate);
}