Rover: radio.cpp correct whitespace, remove tabs

APMrover2/radio.cpp

@@ -9,8 +9,8 @@ void Rover::set_control_channels(void)
     channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
     channel_learn    = RC_Channel::rc_channel(g.learn_channel-1);
 
-	// set rc channel ranges
-	channel_steer->set_angle(SERVO_MAX);
+    // set rc channel ranges
+    channel_steer->set_angle(SERVO_MAX);
     channel_throttle->set_angle(100);
 
     // For a rover safety is TRIM throttle
@@ -20,19 +20,18 @@ void Rover::set_control_channels(void)
             hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1),  channel_steer->get_radio_trim());
         }
     }
-
     // setup correct scaling for ESCs like the UAVCAN PX4ESC which
-    // take a proportion of speed. 
+    // take a proportion of speed.
     hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
 }
 
 void Rover::init_rc_in()
 {
-	// set rc dead zones
-	channel_steer->set_default_dead_zone(30);
-	channel_throttle->set_default_dead_zone(30);
+    // set rc dead zones
+    channel_steer->set_default_dead_zone(30);
+    channel_throttle->set_default_dead_zone(30);
 
-	//set auxiliary ranges
+    // set auxiliary ranges
     update_aux();
 }
 
@@ -48,10 +47,10 @@ void Rover::init_rc_out()
         }
     }
 
-    RC_Channel::output_trim_all();    
+    RC_Channel::output_trim_all();
 
     // setup PWM values to send if the FMU firmware dies
-    RC_Channel::setup_failsafe_trim_all();  
+    RC_Channel::setup_failsafe_trim_all();
 
     // output throttle trim when safety off if arming
     // is setup for min on disarm.  MIN is from plane where MIN is effectively no throttle.
@@ -83,48 +82,47 @@ void Rover::rudder_arm_disarm_check()
         return;
     }
 
-	if (!arming.is_armed()) {
-		// when not armed, full right rudder starts arming counter
-		if (channel_steer->get_control_in() > 4000) {
-			uint32_t now = millis();
-
-			if (rudder_arm_timer == 0 ||
-				now - rudder_arm_timer < 3000) {
+    if (!arming.is_armed()) {
+        // when not armed, full right rudder starts arming counter
+        if (channel_steer->get_control_in() > 4000) {
+            uint32_t now = millis();
 
-				if (rudder_arm_timer == 0) {
+            if (rudder_arm_timer == 0 ||
+                now - rudder_arm_timer < 3000) {
+                if (rudder_arm_timer == 0) {
                     rudder_arm_timer = now;
                 }
-			} else {
-				//time to arm!
-				arm_motors(AP_Arming::RUDDER);
-				rudder_arm_timer = 0;
-			}
-		} else {
-			// not at full right rudder
-			rudder_arm_timer = 0;
-		}
-	} else if (!motor_active() & !g.skid_steer_out) {
-		// when armed and motor not active (not moving), full left rudder starts disarming counter
+            } else {
+                // time to arm!
+                arm_motors(AP_Arming::RUDDER);
+                rudder_arm_timer = 0;
+            }
+        } else {
+            // not at full right rudder
+            rudder_arm_timer = 0;
+        }
+    } else if (!motor_active() & !g.skid_steer_out) {
+        // when armed and motor not active (not moving), full left rudder starts disarming counter
         // This is disabled for skid steering otherwise when tring to turn a skid steering rover around
         // the rover would disarm
-		if (channel_steer->get_control_in() < -4000) {
-			uint32_t now = millis();
+        if (channel_steer->get_control_in() < -4000) {
+            uint32_t now = millis();
 
-			if (rudder_arm_timer == 0 ||
-				now - rudder_arm_timer < 3000) {
-				if (rudder_arm_timer == 0) {
+            if (rudder_arm_timer == 0 ||
+                now - rudder_arm_timer < 3000) {
+                if (rudder_arm_timer == 0) {
                     rudder_arm_timer = now;
                 }
-			} else {
-				//time to disarm!
-				disarm_motors();
-				rudder_arm_timer = 0;
-			}
-		} else {
-			// not at full left rudder
-			rudder_arm_timer = 0;
-		}
-	}
+            } else {
+                // time to disarm!
+                disarm_motors();
+                rudder_arm_timer = 0;
+            }
+        } else {
+            // not at full left rudder
+            rudder_arm_timer = 0;
+        }
+    }
 }
 
 void Rover::read_radio()
@@ -138,20 +136,20 @@ void Rover::read_radio()
 
     RC_Channel::set_pwm_all();
 
-	control_failsafe(channel_throttle->get_radio_in());
+    control_failsafe(channel_throttle->get_radio_in());
 
-	channel_throttle->set_servo_out(channel_throttle->get_control_in());
+    channel_throttle->set_servo_out(channel_throttle->get_control_in());
 
     // Check if the throttle value is above 50% and we need to nudge
     // Make sure its above 50% in the direction we are travelling
-	if ((abs(channel_throttle->get_servo_out()) > 50) &&
+    if ((abs(channel_throttle->get_servo_out()) > 50) &&
         (((channel_throttle->get_servo_out() < 0) && in_reverse) ||
          ((channel_throttle->get_servo_out() > 0) && !in_reverse))) {
             throttle_nudge = (g.throttle_max - g.throttle_cruise) *
                 ((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
-	} else {
-		throttle_nudge = 0;
-	}
+    } else {
+        throttle_nudge = 0;
+    }
 
     if (g.skid_steer_in) {
         // convert the two radio_in values from skid steering values
@@ -184,26 +182,25 @@ void Rover::read_radio()
     }
 
     rudder_arm_disarm_check();
-
 }
 
 void Rover::control_failsafe(uint16_t pwm)
 {
-	if (!g.fs_throttle_enabled) {
+    if (!g.fs_throttle_enabled) {
         // no throttle failsafe
-		return;
+        return;
     }
 
-	// Check for failsafe condition based on loss of GCS control
-	if (rc_override_active) {
+    // Check for failsafe condition based on loss of GCS control
+    if (rc_override_active) {
         failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
-	} else if (g.fs_throttle_enabled) {
+    } else if (g.fs_throttle_enabled) {
         bool failed = pwm < (uint16_t)g.fs_throttle_value;
         if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
             failed = true;
         }
         failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
-	}
+    }
 }
 
 /*
@@ -227,11 +224,11 @@ bool Rover::throttle_failsafe_active(void)
 
 void Rover::trim_control_surfaces()
 {
-	read_radio();
-	// Store control surface trim values
-	// ---------------------------------
+    read_radio();
+    // Store control surface trim values
+    // ---------------------------------
     if (channel_steer->get_radio_in() > 1400) {
-		channel_steer->set_radio_trim(channel_steer->get_radio_in());
+        channel_steer->set_radio_trim(channel_steer->get_radio_in());
         // save to eeprom
         channel_steer->save_eeprom();
     }
@@ -239,8 +236,8 @@ void Rover::trim_control_surfaces()
 
 void Rover::trim_radio()
 {
-	for (int y = 0; y < 30; y++) {
-		read_radio();
-	}
+    for (int y = 0; y < 30; y++) {
+        read_radio();
+    }
     trim_control_surfaces();
 }