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AP_MotorsMulticopter: formatting fixes

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This commit is contained in:
Randy Mackay 2016-03-25 18:06:02 +09:00
parent 6807b961e2
commit f6eabfdab2
2 changed files with 8 additions and 8 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -207,7 +207,7 @@ float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) co
{
float throttle_ratio = thrust;
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
if (_thrust_curve_expo > 0.0f){
if (_thrust_curve_expo > 0.0f && !is_zero(_batt_voltage_filt.get())){
throttle_ratio = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*thrust))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
}
@ -350,7 +350,7 @@ void AP_MotorsMulticopter::output_logic()
case SPIN_WHEN_ARMED: {
// Motors should be stationary or at spin when armed.
// Servoes should be moving to correct the current attitude.
// Servos should be moving to correct the current attitude.
// set limits flags
limit.roll_pitch = true;