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mc_att_control: code style fixed

This commit is contained in:
Anton Babushkin 2014-01-20 10:26:14 +01:00
parent d811b0f0da
commit f4edb448dd
1 changed files with 2 additions and 0 deletions
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2
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -642,6 +642,7 @@ MulticopterAttitudeControl::task_main()
/* update integral */
for (int i = 0; i < 3; i++) {
float rate_i = rates_int(i) + _K_rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i)) {
if (rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && control(i) > -RATES_I_LIMIT && control(i) < RATES_I_LIMIT) {
rates_int(i) = rate_i;
@ -670,6 +671,7 @@ MulticopterAttitudeControl::task_main()
_actuators.control[2] = (isfinite(control(2))) ? control(2) : 0.0f;
_actuators.control[3] = (isfinite(_rates_sp.thrust)) ? _rates_sp.thrust : 0.0f;
_actuators.timestamp = hrt_absolute_time();
} else {
/* controller disabled, publish zero attitude controls */
_actuators.control[0] = 0.0f;