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Copter: arming check formatting fixes

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This commit is contained in:
Randy Mackay 2018-09-10 09:21:31 +09:00 committed by Andrew Tridgell
parent ede27b23d9
commit 72234e5db6
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/motors.cpp
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@ -25,20 +25,20 @@ void Copter::arm_motors_check()
return;
}
#endif
// ensure throttle is down
if (channel_throttle->get_control_in() > 0) {
arming_counter = 0;
return;
}
int16_t tmp = channel_yaw->get_control_in();
int16_t yaw_in = channel_yaw->get_control_in();
// full right
if (tmp > 4000) {
if (yaw_in > 4000) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if( arming_counter <= AUTO_TRIM_DELAY ) {
if (arming_counter <= AUTO_TRIM_DELAY) {
arming_counter++;
}
@ -58,14 +58,14 @@ void Copter::arm_motors_check()
}
// full left and rudder disarming is enabled
} else if ((tmp < -4000) && (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM)) {
} else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0;
return;
}
// increase the counter to a maximum of 1 beyond the disarm delay
if( arming_counter <= DISARM_DELAY ) {
if (arming_counter <= DISARM_DELAY) {
arming_counter++;
}
@ -75,7 +75,7 @@ void Copter::arm_motors_check()
}
// Yaw is centered so reset arming counter
}else{
} else {
arming_counter = 0;
}
}