uncrustify libraries/AP_PID/AP_PID.h

libraries/AP_PID/AP_PID.h

@@ -7,49 +7,67 @@
 #define AP_PID_h
 
 #include <AP_Common.h>
-#include <math.h>		// for fabs()
+#include <math.h>               // for fabs()
 
 /// @class	AP_PID
 /// @brief	Object managing one PID control
 class AP_PID {
 public:
 
-	AP_PID();
+    AP_PID();
 
-	long 	get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
+    long        get_pid(int32_t error, uint16_t dt, float scaler = 1.0);
 
-	/// Reset the PID integrator
-	///
-	void	reset_I();
+    /// Reset the PID integrator
+    ///
+    void        reset_I();
 
-	void	kP(const float v)		{ _kp = v; }
-	void	kI(const float v)		{ _ki = v; }
-	void	kD(const float v)		{ _kd = v; }
-	void	imax(const int16_t v)	{ _imax = v; }
+    void        kP(const float v)               {
+        _kp = v;
+    }
+    void        kI(const float v)               {
+        _ki = v;
+    }
+    void        kD(const float v)               {
+        _kd = v;
+    }
+    void        imax(const int16_t v)   {
+        _imax = v;
+    }
 
-	float	kP()			{ return _kp; }
-	float	kI()			{ return _ki; }
-	float	kD()			{ return _kd; }
-	float	imax()			{ return _imax; }
+    float           kP()                    {
+        return _kp;
+    }
+    float           kI()                    {
+        return _ki;
+    }
+    float           kD()                    {
+        return _kd;
+    }
+    float           imax()                  {
+        return _imax;
+    }
 
-	float	get_integrator() const	{ return _integrator; }
+    float        get_integrator() const {
+        return _integrator;
+    }
 
 private:
-	float				_kp;
-	float				_ki;
-	float				_kd;
-	float				_imax;
-
-	float				_integrator;		///< integrator value
-	int32_t				_last_error;		///< last error for derivative
-	float				_last_derivative; 	///< last derivative for low-pass filter
-
-	/// Low pass filter cut frequency for derivative calculation.
-	///
-	/// 20 Hz becasue anything over that is probably noise, see
-	/// http://en.wikipedia.org/wiki/Low-pass_filter.
-	///
-	static const uint8_t _fCut = 20;
+    float           _kp;
+    float           _ki;
+    float           _kd;
+    float           _imax;
+
+    float           _integrator;                                ///< integrator value
+    int32_t         _last_error;                                ///< last error for derivative
+    float           _last_derivative;                           ///< last derivative for low-pass filter
+
+    /// Low pass filter cut frequency for derivative calculation.
+    ///
+    /// 20 Hz becasue anything over that is probably noise, see
+    /// http://en.wikipedia.org/wiki/Low-pass_filter.
+    ///
+    static const uint8_t        _fCut = 20;
 };
 
 #endif