uncrustify ArduCopter/flip.pde

ArduCopter/flip.pde

@@ -7,7 +7,7 @@
 //    Some states are fixed commands (until some IMU condition)
 //    Some states include controls inside
 uint8_t flip_timer;
-uint8_t	flip_state;
+uint8_t flip_state;
 
 #define AAP_THR_INC 170
 #define AAP_THR_DEC 120
@@ -17,51 +17,51 @@ static int8_t flip_dir;
 
 void init_flip()
 {
-	if(do_flip == false){
-		do_flip = true;
-		flip_state = 0;
-		flip_dir = (ahrs.roll_sensor >= 0) ? 1 :-1;
-	}
+    if(do_flip == false) {
+        do_flip = true;
+        flip_state = 0;
+        flip_dir = (ahrs.roll_sensor >= 0) ? 1 : -1;
+    }
 }
 
 void roll_flip()
 {
-	// Pitch
-	g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
+    // Pitch
+    g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
 
-	int32_t roll = ahrs.roll_sensor * flip_dir;
+    int32_t roll = ahrs.roll_sensor * flip_dir;
 
-	// Roll State machine
-	switch (flip_state){
-		case 0:
-			if (roll < 4500){
-				// Roll control
-				g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir;
-				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
-			}else{
-				flip_state++;
-			}
-			break;
+    // Roll State machine
+    switch (flip_state) {
+    case 0:
+        if (roll < 4500) {
+            // Roll control
+            g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir;
+            g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
+        }else{
+            flip_state++;
+        }
+        break;
 
-		case 1:
-			if((roll >= 4500) || (roll < -9000)){
-				g.rc_1.servo_out = get_rate_roll(40000 * flip_dir);
-				g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
-			}else{
-				flip_state++;
-				flip_timer = 0;
-			}
-			break;
+    case 1:
+        if((roll >= 4500) || (roll < -9000)) {
+            g.rc_1.servo_out = get_rate_roll(40000 * flip_dir);
+            g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
+        }else{
+            flip_state++;
+            flip_timer = 0;
+        }
+        break;
 
-		case 2:
-			if (flip_timer < 100){
-				g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
-				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
-				flip_timer++;
-			}else{
-				do_flip = false;
-				flip_state = 0;
-			}
-			break;
-	}
+    case 2:
+        if (flip_timer < 100) {
+            g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
+            g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
+            flip_timer++;
+        }else{
+            do_flip = false;
+            flip_state = 0;
+        }
+        break;
+    }
 }