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Mixer: Fix code style

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Lorenz Meier
2015-10-19 09:37:01 +02:00
parent a6a3d4891d
commit 25dfa31374
1 changed files with 4 additions and 1 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+4 -1
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@@ -317,9 +317,10 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
if (out < 0.0f) {
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f;
} else {
yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
}
if (status_reg != NULL) {
@@ -330,8 +331,10 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
// allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f);
thrust -= thrust_reduction;
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f;
} else {
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;