Fixed code style for multirotor_att_control app

1 files changed, 11 insertions, 7 deletions

diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index b98736cee..76dbb36d3 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -158,16 +158,18 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
 	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
 	last_run = hrt_absolute_time();
+
 	if (last_input != att_sp->timestamp) {
 		last_input = att_sp->timestamp;
 	}
+
 	static int sensor_delay;
 	sensor_delay = hrt_absolute_time() - att->timestamp;
 
@@ -189,9 +191,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_update(&h, &p);
 
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
-				1000.0f, PID_MODE_DERIVATIV_SET);
+			 1000.0f, PID_MODE_DERIVATIV_SET);
 		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
-				1000.0f, PID_MODE_DERIVATIV_SET);
+			 1000.0f, PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
@@ -207,7 +209,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	}
 
 	/* reset integral if on ground */
-	if(att_sp->thrust < 0.1f) {
+	if (att_sp->thrust < 0.1f) {
 		pid_reset_integral(&pitch_controller);
 		pid_reset_integral(&roll_controller);
 	}
@@ -217,13 +219,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	/* control pitch (forward) output */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
-			att->pitch, att->pitchspeed, deltaT);
+					att->pitch, att->pitchspeed, deltaT);
 
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
-			att->roll, att->rollspeed, deltaT);
+				       att->roll, att->rollspeed, deltaT);
 
-	if(control_yaw_position) {
+	if (control_yaw_position) {
 		/* control yaw rate */
 
 		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
@@ -233,12 +235,14 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		if (yaw_error > M_PI_F) {
 			yaw_error -= M_TWOPI_F;
+
 		} else if (yaw_error < -M_PI_F) {
 			yaw_error += M_TWOPI_F;
 		}
 
 		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
 	}
+
 	rates_sp->thrust = att_sp->thrust;
 
 	motor_skip_counter++;