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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-11 07:44:03 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-11 07:44:03 +0100 |
| commit | dc100f20201974eeae8743e1184efe6be1e31e6f (patch) | |
| tree | 438467d1ab1f8280f7e8c372581c0a7f019d2174 /apps/fixedwing_att_control/fixedwing_att_control_rate.c | |
| parent | 9ab20b11b6a528ef2ae4197e9cd412de52b1d024 (diff) | |
| download | px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.tar.gz px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.tar.bz2 px4-firmware-dc100f20201974eeae8743e1184efe6be1e31e6f.zip | |
Fixedwing controller code style
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index f3e36c0ec..87b6e925c 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -157,8 +157,8 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru } int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators) + const float rates[], + struct actuator_controls_s *actuators) { static int counter = 0; static bool initialized = false; @@ -174,8 +174,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; last_run = hrt_absolute_time(); - if(!initialized) - { + if (!initialized) { parameters_init(&h); parameters_update(&h, &p); pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller |