From 6c0c5f524b1b00dd633a91e01db1d06cec62a8a8 Mon Sep 17 00:00:00 2001
From: uncrustify <pat@moreproductive.org>
Date: Thu, 16 Aug 2012 23:20:38 -0700
Subject: [PATCH] uncrustify libraries/APM_PI/APM_PI.cpp

---
 libraries/APM_PI/APM_PI.cpp | 44 ++++++++++++++++++-------------------
 1 file changed, 22 insertions(+), 22 deletions(-)

diff --git a/libraries/APM_PI/APM_PI.cpp b/libraries/APM_PI/APM_PI.cpp
index 14354c7df2..044d477edc 100644
--- a/libraries/APM_PI/APM_PI.cpp
+++ b/libraries/APM_PI/APM_PI.cpp
@@ -8,54 +8,54 @@
 #include "APM_PI.h"
 
 const AP_Param::GroupInfo APM_PI::var_info[] PROGMEM = {
-	AP_GROUPINFO("P",    0, APM_PI, _kp, 0),
-	AP_GROUPINFO("I",    1, APM_PI, _ki, 0),
-	AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
-	AP_GROUPEND
+    AP_GROUPINFO("P",    0, APM_PI, _kp, 0),
+    AP_GROUPINFO("I",    1, APM_PI, _ki, 0),
+    AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
+    AP_GROUPEND
 };
 
 int32_t APM_PI::get_p(int32_t error)
 {
-	return (float)error * _kp;
+    return (float)error * _kp;
 }
 
 int32_t APM_PI::get_i(int32_t error, float dt)
 {
-	if(dt != 0){
-		_integrator += ((float)error * _ki) * dt;
+    if(dt != 0) {
+        _integrator += ((float)error * _ki) * dt;
 
-		if (_integrator < -_imax) {
-			_integrator = -_imax;
-		} else if (_integrator > _imax) {
-			_integrator = _imax;
-		}
-	}
-	return _integrator;
+        if (_integrator < -_imax) {
+            _integrator = -_imax;
+        } else if (_integrator > _imax) {
+            _integrator = _imax;
+        }
+    }
+    return _integrator;
 }
 
 int32_t APM_PI::get_pi(int32_t error, float dt)
 {
-	return get_p(error) + get_i(error, dt);
+    return get_p(error) + get_i(error, dt);
 }
 
 void
 APM_PI::reset_I()
 {
-	_integrator = 0;
+    _integrator = 0;
 }
 
 void
 APM_PI::load_gains()
 {
-	_kp.load();
-	_ki.load();
-	_imax.load();
+    _kp.load();
+    _ki.load();
+    _imax.load();
 }
 
 void
 APM_PI::save_gains()
 {
-	_kp.save();
-	_ki.save();
-	_imax.save();
+    _kp.save();
+    _ki.save();
+    _imax.save();
 }