uncrustify libraries/AC_PID/AC_PID.cpp

libraries/AC_PID/AC_PID.cpp

@@ -21,7 +21,7 @@ int32_t AC_PID::get_p(int32_t error)
 
 int32_t AC_PID::get_i(int32_t error, float dt)
 {
-	if((_ki != 0) && (dt != 0)){
+    if((_ki != 0) && (dt != 0)) {
         _integrator += ((float)error * _ki) * dt;
         if (_integrator < -_imax) {
             _integrator = -_imax;
@@ -67,42 +67,42 @@ int32_t AC_PID::get_pid(int32_t error, float dt)
 
 
 /*
-int32_t AC_PID::get_pid(int32_t error, float dt)
-{
-	// Compute proportional component
-	_output = error * _kp;
-
-	// Compute derivative component if time has elapsed
-	if ((fabs(_kd) > 0) && (dt > 0)) {
-		_derivative = (error - _last_error) / dt;
-
-		// discrete low pass filter, cuts out the
-		// high frequency noise that can drive the controller crazy
-		_derivative = _last_derivative +
-		        (dt / ( _filter + dt)) * (_derivative - _last_derivative);
-
-		// update state
-		_last_error 		= error;
-		_last_derivative    = _derivative;
-
-		// add in derivative component
-		_output 	+= _kd * _derivative;
-	}
-
-	// Compute integral component if time has elapsed
-	if ((fabs(_ki) > 0) && (dt > 0)) {
-		_integrator 		+= (error * _ki) * dt;
-		if (_integrator < -_imax) {
-			_integrator = -_imax;
-		} else if (_integrator > _imax) {
-			_integrator = _imax;
-		}
-		_output 	+= _integrator;
-	}
-
-	return _output;
-}
-*/
+ *  int32_t AC_PID::get_pid(int32_t error, float dt)
+ *  {
+ *       // Compute proportional component
+ *       _output = error * _kp;
+ *
+ *       // Compute derivative component if time has elapsed
+ *       if ((fabs(_kd) > 0) && (dt > 0)) {
+ *               _derivative = (error - _last_error) / dt;
+ *
+ *               // discrete low pass filter, cuts out the
+ *               // high frequency noise that can drive the controller crazy
+ *               _derivative = _last_derivative +
+ *                       (dt / ( _filter + dt)) * (_derivative - _last_derivative);
+ *
+ *               // update state
+ *               _last_error        = error;
+ *               _last_derivative    = _derivative;
+ *
+ *               // add in derivative component
+ *               _output    += _kd * _derivative;
+ *       }
+ *
+ *       // Compute integral component if time has elapsed
+ *       if ((fabs(_ki) > 0) && (dt > 0)) {
+ *               _integrator        += (error * _ki) * dt;
+ *               if (_integrator < -_imax) {
+ *                       _integrator = -_imax;
+ *               } else if (_integrator > _imax) {
+ *                       _integrator = _imax;
+ *               }
+ *               _output    += _integrator;
+ *       }
+ *
+ *       return _output;
+ *  }
+ */
 
 
 void