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uncrustify libraries/AP_Motors/AP_MotorsMatrix.cpp

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uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent 21c2609c61
commit 59d64e054a
1 changed files with 236 additions and 236 deletions
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34
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -1,12 +1,12 @@
/* /*
AP_MotorsMatrix.cpp - ArduCopter motors library * AP_MotorsMatrix.cpp - ArduCopter motors library
Code by RandyMackay. DIYDrones.com * Code by RandyMackay. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*/ */
#include "AP_MotorsMatrix.h" #include "AP_MotorsMatrix.h"
@ -143,11 +143,11 @@ void AP_MotorsMatrix::output_armed()
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
/*yaw_contribution = _rc_yaw->pwm_out*_yaw_factor[i]; /*yaw_contribution = _rc_yaw->pwm_out*_yaw_factor[i];
if (yaw_contribution > 0 ){ * if (yaw_contribution > 0 ){
yaw_contribution *= 0.7; * yaw_contribution *= 0.7;
}else{ * }else{
yaw_contribution *= 1.42; * yaw_contribution *= 1.42;
}*/ * }*/
motor_out[i] = _rc_throttle->radio_out + motor_out[i] = _rc_throttle->radio_out +
_rc_roll->pwm_out * _roll_factor[i] + _rc_roll->pwm_out * _roll_factor[i] +
_rc_pitch->pwm_out * _pitch_factor[i] + _rc_pitch->pwm_out * _pitch_factor[i] +
@ -172,16 +172,16 @@ void AP_MotorsMatrix::output_armed()
} }
} }
#if CUT_MOTORS == ENABLED #if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors // if we are not sending a throttle output, we cut the motors
if(_rc_throttle->servo_out == 0){ if(_rc_throttle->servo_out == 0) {
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
motor_out[i] = _rc_throttle->radio_min; motor_out[i] = _rc_throttle->radio_min;
} }
} }
} }
#endif #endif
// send output to each motor // send output to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
@ -204,7 +204,7 @@ void AP_MotorsMatrix::output_armed()
// output_disarmed - sends commands to the motors // output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_disarmed() void AP_MotorsMatrix::output_disarmed()
{ {
if(_rc_throttle->control_in > 0){ if(_rc_throttle->control_in > 0) {
// we have pushed up the throttle // we have pushed up the throttle
// remove safety for auto pilot // remove safety for auto pilot
_auto_armed = true; _auto_armed = true;