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Code Issues Releases Activity

uncrustification

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This commit is contained in:
Corvus Corax 2014-03-27 21:19:03 +01:00
parent 7bd7c20fd9
commit fe04cf7d29
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Stabilization/stabilization.c
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@ -417,7 +417,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// and the Att rate equals the Rate rate
// that's where Rate x (1-StickAngle) [Attitude pulling down max X Ratt proportion]
// == Rate x StickAngle [Rate pulling up according to stick angle]
// * StickAngle [X Ratt proportion]
// * StickAngle [X Ratt proportion]
// so 1-x == x*x or x*x+x-1=0 where xE(0,1)
// (-1+-sqrt(1+4))/2 = (-1+sqrt(5))/2
// and quadratic formula says that is 0.618033989f
@ -441,7 +441,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
} else {
magnitude = (magnitude - rattitude_mode_transition_stick_position)
* (1.0f-STICK_VALUE_AT_MODE_TRANSITION)
* (1.0f - STICK_VALUE_AT_MODE_TRANSITION)
/ (1.0f - rattitude_mode_transition_stick_position)
+ STICK_VALUE_AT_MODE_TRANSITION;
}
@ -824,7 +824,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cur_flight_mode = -1;
// Rattitude stick angle where the attitude to rate transition happens
if (settings.RattitudeModeTransition < (uint8_t) 10) {
if (settings.RattitudeModeTransition < (uint8_t)10) {
rattitude_mode_transition_stick_position = 10.0f / 100.0f;
} else {
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransition / 100.0f;