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Plane: Whitespace fixes

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This commit is contained in:
Michael du Breuil 2018-11-16 14:51:12 -07:00 committed by Andrew Tridgell
parent 205fc7b55d
commit 42e67d5849
1 changed files with 6 additions and 6 deletions
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12
ArduPlane/navigation.cpp
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@ -173,19 +173,19 @@ void Plane::calc_airspeed_errors()
void Plane::calc_gndspeed_undershoot()
{
// Use the component of ground speed in the forward direction
// This prevents flyaway if wind takes plane backwards
// Use the component of ground speed in the forward direction
// This prevents flyaway if wind takes plane backwards
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
Vector2f gndVel = ahrs.groundspeed_vector();
const Matrix3f &rotMat = ahrs.get_rotation_body_to_ned();
Vector2f yawVect = Vector2f(rotMat.a.x,rotMat.b.x);
Vector2f gndVel = ahrs.groundspeed_vector();
const Matrix3f &rotMat = ahrs.get_rotation_body_to_ned();
Vector2f yawVect = Vector2f(rotMat.a.x,rotMat.b.x);
if (!yawVect.is_zero()) {
yawVect.normalize();
float gndSpdFwd = yawVect * gndVel;
groundspeed_undershoot = (aparm.min_gndspeed_cm > 0) ? (aparm.min_gndspeed_cm - gndSpdFwd*100) : 0;
}
} else {
groundspeed_undershoot = 0;
groundspeed_undershoot = 0;
}
}