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mc_att_control: code style fixed

This commit is contained in:
Anton Babushkin 2014-02-17 23:58:58 +04:00
parent 2b4af66357
commit 969f564a13
1 changed files with 5 additions and 4 deletions
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9
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -531,6 +531,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* construct attitude setpoint rotation matrix */
math::Matrix<3, 3> R_sp;
if (_v_att_sp.R_valid) {
/* rotation matrix in _att_sp is valid, use it */
R_sp.set(&_v_att_sp.R_body[0][0]);
@ -762,10 +763,10 @@ MulticopterAttitudeControl::task_main()
} else {
/* attitude controller disabled, poll rates setpoint topic */
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
vehicle_rates_setpoint_poll();
_rates_sp(0) = _v_rates_sp.roll;
_rates_sp(1) = _v_rates_sp.pitch;
_rates_sp(2) = _v_rates_sp.yaw;
_thrust_sp = _v_rates_sp.thrust;
}