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whitespace cleanup and include guard fix

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This commit is contained in:
Felix Ruess
2013-08-15 14:23:01 +02:00
parent 2091a32bbd
commit 7ae656c766
3 changed files with 37 additions and 38 deletions
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sw/airborne/boards/krooz/imu_krooz.c
+4 -4
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@@ -89,7 +89,7 @@ void imu_impl_init( void )
// Init median filters
#if IMU_KROOZ_USE_GYRO_MEDIAN_FILTER
InitMedianFilterRatesInt(median_gyro);
#endif
#endif
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
InitMedianFilterVect3Int(median_accel);
#endif
@@ -124,17 +124,17 @@ void imu_periodic( void )
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
RATES_SMUL(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, IMU_KROOZ_GYRO_AVG_FILTER);
RATES_ADD(imu_krooz.gyro_filtered, imu.gyro_unscaled);
RATES_SDIV(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, (IMU_KROOZ_GYRO_AVG_FILTER + 1));
RATES_COPY(imu.gyro_unscaled, imu_krooz.gyro_filtered);
VECT3_SMUL(imu_krooz.accel_filtered, imu_krooz.accel_filtered, IMU_KROOZ_ACCEL_AVG_FILTER);
VECT3_ADD(imu_krooz.accel_filtered, imu.accel_unscaled);
VECT3_SDIV(imu_krooz.accel_filtered, imu_krooz.accel_filtered, (IMU_KROOZ_ACCEL_AVG_FILTER + 1));
VECT3_COPY(imu.accel_unscaled, imu_krooz.accel_filtered);
RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
imu_krooz.meas_nb = 0;