Copter: flowhold formatting fixes

ArduCopter/mode_flowhold.cpp

@@ -4,7 +4,7 @@
 #if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
 
 /*
-  implement FLOWHOLD mode, for position hold using opttical flow
+  implement FLOWHOLD mode, for position hold using optical flow
   without rangefinder
  */
 
@@ -63,7 +63,7 @@ const AP_Param::GroupInfo Copter::ModeFlowHold::var_info[] = {
     // @User: Standard
     // @Units: deg/s
     AP_GROUPINFO("_BRAKE_RATE", 6, Copter::ModeFlowHold, brake_rate_dps, 8),
-    
+
     AP_GROUPEND
 };
 
@@ -109,7 +109,7 @@ bool Copter::ModeFlowHold::init(bool ignore_checks)
     // start with INS height
     last_ins_height = copter.inertial_nav.get_altitude() * 0.01;
     height_offset = 0;
-    
+
     return true;
 }
 
@@ -119,7 +119,7 @@ bool Copter::ModeFlowHold::init(bool ignore_checks)
 void Copter::ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
 {
     uint32_t now = AP_HAL::millis();
-    
+
     // get corrected raw flow rate
     Vector2f raw_flow = copter.optflow.flowRate() - copter.optflow.bodyRate();
 
@@ -163,7 +163,7 @@ void Copter::ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stic
 #endif
         }
     }
-    
+
     if (!stick_input && !braking) {
         // get I term
         if (limited) {
@@ -190,7 +190,6 @@ void Copter::ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stic
         ef_output.zero();
     }
 
-    
     ef_output += xy_I;
     ef_output *= copter.aparm.angle_max;
 
@@ -222,7 +221,7 @@ void Copter::ModeFlowHold::run()
     float takeoff_climb_rate = 0.0f;
 
     update_height_estimate();
-    
+
     // initialize vertical speeds and acceleration
     copter.pos_control->set_max_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
     copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
@@ -241,7 +240,7 @@ void Copter::ModeFlowHold::run()
 
     // get pilot's desired yaw rate
     float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
-    
+
     if (!copter.motors->armed() || !copter.motors->get_interlock()) {
         flowhold_state = FlowHold_MotorStopped;
     } else if (takeoff.running() || takeoff.triggered(target_climb_rate)) {
@@ -258,7 +257,7 @@ void Copter::ModeFlowHold::run()
     } else {
         quality_filtered = 0;
     }
-    
+
     Vector2f bf_angles;
 
     // calculate alt-hold angles
@@ -266,7 +265,7 @@ void Copter::ModeFlowHold::run()
     int16_t pitch_in = copter.channel_pitch->get_control_in();
     float angle_max = copter.attitude_control->get_althold_lean_angle_max();
     get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y,angle_max, attitude_control->get_althold_lean_angle_max());
-    
+
     if (quality_filtered >= flow_min_quality &&
         AP_HAL::millis() - copter.arm_time_ms > 3000) {
         // don't use for first 3s when we are just taking off
@@ -279,7 +278,7 @@ void Copter::ModeFlowHold::run()
     }
     bf_angles.x = constrain_float(bf_angles.x, -angle_max, angle_max);
     bf_angles.y = constrain_float(bf_angles.y, -angle_max, angle_max);
-            
+
     // Flow Hold State Machine
     switch (flowhold_state) {
 
@@ -366,7 +365,6 @@ void Copter::ModeFlowHold::run()
     }
 }
 
-
 /*
   update height estimate using integrated accelerometer ratio with optical flow
  */
@@ -384,7 +382,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
         return;
     }
 #endif
-        
+
     // get delta velocity in body frame
     Vector3f delta_vel;
     if (!copter.ins.get_delta_velocity(delta_vel)) {
@@ -396,7 +394,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
     delta_vel = rotMat * delta_vel;
     delta_velocity_ne.x += delta_vel.x;
     delta_velocity_ne.y += delta_vel.y;
-    
+
     if (!copter.optflow.healthy()) {
         // can't update height model with no flow sensor
         last_flow_ms = AP_HAL::millis();
@@ -411,7 +409,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
         height_offset = 0;
         return;
     }
-    
+
     if (copter.optflow.last_update() == last_flow_ms) {
         // no new flow data
         return;
@@ -422,7 +420,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
 
     // and convert to an rate equivalent, to be comparable to flow
     Vector2f delta_vel_rate(-delta_vel_bf.y, delta_vel_bf.x);
-    
+
     // get body flow rate in radians per second
     Vector2f flow_rate_rps = copter.optflow.flowRate() - copter.optflow.bodyRate();
 
@@ -441,7 +439,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
       basic equation is:
       height_m = delta_velocity_mps / delta_flowrate_rps;
      */
-    
+
     // get delta_flowrate_rps
     Vector2f delta_flowrate = flow_rate_rps - last_flow_rate_rps;
     last_flow_rate_rps = flow_rate_rps;
@@ -458,7 +456,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
       for each axis update the height estimate
      */
     float delta_height = 0;
-    uint8_t total_weight=0;
+    uint8_t total_weight = 0;
     float height_estimate = ins_height + height_offset;
 
     for (uint8_t i=0; i<2; i++) {
@@ -480,7 +478,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
     if (total_weight > 0) {
         delta_height /= total_weight;
     }
-    
+
     if (delta_height < 0) {
         // bias towards lower heights, as we'd rather have too low
         // gain than have oscillation. This also compensates a bit for
@@ -493,7 +491,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
 
     // apply a simple filter
     height_offset = 0.8 * height_offset + 0.2 * new_offset;
-    
+
     if (ins_height + height_offset < height_min) {
         // height estimate is never allowed below the minimum
         height_offset = height_min - ins_height;
@@ -501,7 +499,7 @@ void Copter::ModeFlowHold::update_height_estimate(void)
 
     // new height estimate for logging
     height_estimate = ins_height + height_offset;
-    
+
     DataFlash_Class::instance()->Log_Write("FXY", "TimeUS,DFx,DFy,DVx,DVy,Hest,DH,Hofs,InsH,LastInsH,DTms", "QfffffffffI",
                                            AP_HAL::micros64(),
                                            (double)delta_flowrate.x,
@@ -520,4 +518,3 @@ void Copter::ModeFlowHold::update_height_estimate(void)
 }
 
 #endif // OPTFLOW == ENABLED
-