uncrustify libraries/AC_PID/AC_PID.h

libraries/AC_PID/AC_PID.h

@@ -25,10 +25,10 @@ public:
     /// @param  initial_imax    Initial value for the imax term.4
     ///
     AC_PID(
-	    const float &initial_p = 0.0,
+        const float &   initial_p = 0.0,
-	    const float &initial_i = 0.0,
+        const float &   initial_i = 0.0,
-	    const float &initial_d = 0.0,
+        const float &   initial_d = 0.0,
-	    const int16_t &initial_imax = 0.0)
+        const int16_t & initial_imax = 0.0)
     {
         _kp = initial_p;
         _ki = initial_i;
@@ -72,25 +72,45 @@ public:
     //@{
 
     /// Overload the function call operator to permit relatively easy initialisation
-	void operator() (const float p,
+    void operator        () (const float    p,
                              const float    i,
                              const float    d,
                              const int16_t  imaxval) {
         _kp = p; _ki = i; _kd = d; _imax = abs(imaxval);
     }
 
-	float	kP() const				{ return _kp.get(); }
+    float        kP() const {
-	float	kI() const 				{ return _ki.get(); }
+        return _kp.get();
-	float	kD() const 				{ return _kd.get(); }
+    }
-	int16_t	imax() const			{ return _imax.get(); }
+    float        kI() const {
+        return _ki.get();
+    }
+    float        kD() const {
+        return _kd.get();
+    }
+    int16_t        imax() const {
+        return _imax.get();
+    }
 
-	void	kP(const float v)		{ _kp.set(v); }
+    void        kP(const float v)               {
-	void	kI(const float v)		{ _ki.set(v); }
+        _kp.set(v);
-	void	kD(const float v)		{ _kd.set(v); }
+    }
-	void	imax(const int16_t v)	{ _imax.set(abs(v)); }
+    void        kI(const float v)               {
+        _ki.set(v);
+    }
+    void        kD(const float v)               {
+        _kd.set(v);
+    }
+    void        imax(const int16_t v)   {
+        _imax.set(abs(v));
+    }
 
-	float	get_integrator() const	{ return _integrator; }
+    float        get_integrator() const {
-	void	set_integrator(float i)	{ _integrator = i; }
+        return _integrator;
+    }
+    void        set_integrator(float i) {
+        _integrator = i;
+    }
 
     static const struct AP_Param::GroupInfo        var_info[];