uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -1,17 +1,17 @@
 /*
-	APM_AHRS_DCM.cpp
-
-	AHRS system using DCM matrices
-
-	Based on DCM code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
-
-	Adapted for the general ArduPilot AHRS interface by Andrew Tridgell
-
-	This library is free software; you can redistribute it and/or
-	modify it under the terms of the GNU Lesser General Public License
-	as published by the Free Software Foundation; either version 2.1
-	of the License, or (at your option) any later version.
-*/
+ *       APM_AHRS_DCM.cpp
+ *
+ *       AHRS system using DCM matrices
+ *
+ *       Based on DCM code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
+ *
+ *       Adapted for the general ArduPilot AHRS interface by Andrew Tridgell
+ *
+ *       This library is free software; you can redistribute it and/or
+ *       modify it under the terms of the GNU Lesser General Public License
+ *       as published by the Free Software Foundation; either version 2.1
+ *       of the License, or (at your option) any later version.
+ */
 #include <FastSerial.h>
 #include <AP_AHRS.h>
 
@@ -78,8 +78,8 @@ AP_AHRS_DCM::matrix_update(float _G_Dt)
 
 
 /*
-  reset the DCM matrix and omega. Used on ground start, and on
-  extreme errors in the matrix
+ *  reset the DCM matrix and omega. Used on ground start, and on
+ *  extreme errors in the matrix
  */
 void
 AP_AHRS_DCM::reset(bool recover_eulers)
@@ -102,7 +102,7 @@ AP_AHRS_DCM::reset(bool recover_eulers)
 }
 
 /*
-  check the DCM matrix for pathological values
+ *  check the DCM matrix for pathological values
  */
 void
 AP_AHRS_DCM::check_matrix(void)
@@ -191,15 +191,15 @@ AP_AHRS_DCM::renorm(Vector3f const &a, Vector3f &result)
 }
 
 /*************************************************
-Direction Cosine Matrix IMU: Theory
-William Premerlani and Paul Bizard
-
-Numerical errors will gradually reduce the orthogonality conditions expressed by equation 5
-to approximations rather than identities. In effect, the axes in the two frames of reference no
-longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a
-simple matter to stay ahead of it.
-We call the process of enforcing the orthogonality conditions ÒrenormalizationÓ.
-*/
+ *  Direction Cosine Matrix IMU: Theory
+ *  William Premerlani and Paul Bizard
+ *
+ *  Numerical errors will gradually reduce the orthogonality conditions expressed by equation 5
+ *  to approximations rather than identities. In effect, the axes in the two frames of reference no
+ *  longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a
+ *  simple matter to stay ahead of it.
+ *  We call the process of enforcing the orthogonality conditions ÒrenormalizationÓ.
+ */
 void
 AP_AHRS_DCM::normalize(void)
 {
@@ -449,13 +449,13 @@ AP_AHRS_DCM::drift_correction(float deltat)
 #define USE_BAROMETER_FOR_VERTICAL_VELOCITY 1
 #if USE_BAROMETER_FOR_VERTICAL_VELOCITY
     /*
-       The barometer for vertical velocity is only enabled if we got
-       at least 5 pressure samples for the reading. This ensures we
-       don't use very noisy climb rate data
+     *  The barometer for vertical velocity is only enabled if we got
+     *  at least 5 pressure samples for the reading. This ensures we
+     *  don't use very noisy climb rate data
      */
     if (_barometer != NULL && _barometer->get_pressure_samples() >= 5) {
         // Z velocity is down
-	    velocity.z = - _barometer->get_climb_rate();
+        velocity.z = -_barometer->get_climb_rate();
     }
 #endif