Emile's Fixes

ArduCopter/motors_hexa.pde

@@ -5,8 +5,8 @@
 static void init_motors_out()
 {
 	#if INSTANT_PWM == 0
-    APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
-                                | _BV(MOT_5) | _BV(MOT_6) );
+		APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
+																| _BV(MOT_5) | _BV(MOT_6));
 	#endif
 }
 
@@ -77,10 +77,10 @@ static void output_motors_armed()
 
 
 	// Tridge's stability patch
-    for (int m = 0; m <= 6; m++) {
+		for (int m = 0; m <= 6; m++){
 			int c = ch_of_mot(m);
-        int c_opp = ch_of_mot(m^1); // m^1 is the opposite motor. c_opp is channel of opposite motor.
-        if (motor_out[c] > out_max) {
+			int c_opp = ch_of_mot(m ^ 1); // m ^ 1 is the opposite motor. c_opp is channel of opposite motor.
+			if(motor_out[c] > out_max){
 				motor_out[c_opp] -= motor_out[c] - out_max;
 				motor_out[c] = out_max;
 			}
@@ -108,7 +108,7 @@ static void output_motors_armed()
 
 	// this filter slows the acceleration of motors vs the deceleration
 	// Idea by Denny Rowland to help with his Yaw issue
-	for(int8_t m = 0; m <= 6; m++ ) {
+	for(int8_t m = 0; m <= 6; m++){
 			int c = ch_of_mot(m);
 		if(motor_filtered[c] < motor_out[c]){
 			motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
@@ -143,7 +143,7 @@ static void output_motors_disarmed()
 	}
 
 	// fill the motor_out[] array for HIL use
-	for (unsigned char i = 0; i < 8; i++) {
+	for (unsigned char i = 0; i < 8; i++){
 		motor_out[i] = g.rc_3.radio_min;
 	}
 
@@ -168,7 +168,6 @@ static void output_motor_test()
 	motor_out[MOT_6] = g.rc_3.radio_min;
 
 	if(g.frame_orientation == X_FRAME){
-
 		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
 		 delay(4000);
 		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
@@ -199,10 +198,7 @@ static void output_motor_test()
 		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
 		 delay(300);
 
-		}
-
 	} else { /* PLUS_FRAME */
-
 		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
 		 delay(4000);
 		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
@@ -234,8 +230,6 @@ static void output_motor_test()
 		 delay(300);
 		}
 
-	}
-
 	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
 	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
 	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);