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AP_MotorsMulticopter: formatting fixes

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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14
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -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());
}
@ -336,7 +336,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = true;
// make sure the motors are spooling in the correct direction
if(_spool_desired != DESIRED_SHUT_DOWN){
if (_spool_desired != DESIRED_SHUT_DOWN) {
_multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
break;
}
@ -348,9 +348,9 @@ void AP_MotorsMulticopter::output_logic()
_throttle_rpy_mix_desired = 0.0f;
break;
case SPIN_WHEN_ARMED:{
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;
@ -397,7 +397,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
if (_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
_multicopter_flags.spool_mode = SPOOL_DOWN;
break;
}
@ -428,7 +428,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
if (_spool_desired != DESIRED_THROTTLE_UNLIMITED) {
_multicopter_flags.spool_mode = SPOOL_DOWN;
break;
}
@ -450,7 +450,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_spool_desired == DESIRED_THROTTLE_UNLIMITED ){
if (_spool_desired == DESIRED_THROTTLE_UNLIMITED) {
_multicopter_flags.spool_mode = SPOOL_UP;
break;
}

2
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -72,7 +72,7 @@ public:
SHUT_DOWN = 0, // all motors stop
SPIN_WHEN_ARMED = 1, // all motors at spin when armed
SPOOL_UP = 2, // increasing maximum throttle while stabilizing
THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure
THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure
SPOOL_DOWN = 4, // decreasing maximum throttle while stabilizing
};