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Code Issues Releases Activity

Whitespace fixes

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2931 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-03-02 01:25:30 +00:00 committed by peabody124
parent 3e17c2ff55
commit 3488d28a5b
1 changed files with 36 additions and 36 deletions
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28
flight/Modules/Stabilization/stabilization.c
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@ -95,7 +95,7 @@ int32_t StabilizationInitialize()
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
// AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
@ -165,17 +165,17 @@ static void stabilizationTask(void* parameters)
{
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], 1);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], 1);
break;
}
}
uint8_t shouldUpdate = 1;
uint8_t shouldUpdate = 0;
RateDesiredSet(&rateDesired);
ActuatorDesiredGet(&actuatorDesired);
//Calculate desired command
@ -194,8 +194,8 @@ static void stabilizationTask(void* parameters)
}
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct], attitudeRaw.gyros[ct], 0);
actuatorDesiredAxis[ct] = bound(command);
@ -242,7 +242,7 @@ static void stabilizationTask(void* parameters)
}
if(manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_FALSE ||
!shouldUpdate || (stabDesired.Throttle < 0))
!shouldUpdate || (stabDesired.Throttle < 0))
{
ZeroPids();
}
@ -320,6 +320,6 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
/**
* @}
* @}
*/
* @}
* @}
*/