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mc_att_control_main: fix style

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Beat Küng
2017-01-30 14:08:20 +01:00
committed by Lorenz Meier
parent 4f6e379e50
commit c07fd1a360
1 changed files with 3 additions and 0 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -994,14 +994,17 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
// get the raw gyro data and correct for thermal errors
math::Vector<3> rates;
if (_selected_gyro == 0) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[0]) * _sensor_correction.gyro_scale_0[0];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
} else if (_selected_gyro == 1) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[0]) * _sensor_correction.gyro_scale_1[0];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
} else if (_selected_gyro == 2) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];