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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
Code by RandyMackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
* AP_MotorsMatrix.cpp - ArduCopter motors library
* Code by RandyMackay. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
#include "AP_MotorsMatrix.h"
@ -143,11 +143,11 @@ void AP_MotorsMatrix::output_armed()
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
/*yaw_contribution = _rc_yaw->pwm_out*_yaw_factor[i];
if (yaw_contribution > 0 ){
yaw_contribution *= 0.7;
}else{
yaw_contribution *= 1.42;
}*/
* if (yaw_contribution > 0 ){
* yaw_contribution *= 0.7;
* }else{
* yaw_contribution *= 1.42;
* }*/
motor_out[i] = _rc_throttle->radio_out +
_rc_roll->pwm_out * _roll_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(_rc_throttle->servo_out == 0){
if(_rc_throttle->servo_out == 0) {
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
motor_out[i] = _rc_throttle->radio_min;
}
}
}
#endif
#endif
// send output to each motor
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
void AP_MotorsMatrix::output_disarmed()
{
if(_rc_throttle->control_in > 0){
if(_rc_throttle->control_in > 0) {
// we have pushed up the throttle
// remove safety for auto pilot
_auto_armed = true;