From d226ffeeb2965a99307519313867f6582b679dd5 Mon Sep 17 00:00:00 2001 From: khancyr Date: Wed, 8 Nov 2017 15:05:33 +0900 Subject: [PATCH] AP_AttitudeControl: remove tabs non-functional change --- libraries/APM_Control/AR_AttitudeControl.cpp | 2 +- libraries/APM_Control/AR_AttitudeControl.h | 30 ++++++++++---------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp index 85f3e893ae..515466b286 100644 --- a/libraries/APM_Control/AR_AttitudeControl.cpp +++ b/libraries/APM_Control/AR_AttitudeControl.cpp @@ -117,7 +117,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = { // @User: Standard AP_GROUPINFO("_STOP_SPEED", 5, AR_AttitudeControl, _stop_speed, AR_ATTCONTROL_STOP_SPEED_DEFAULT), - AP_GROUPEND + AP_GROUPEND }; AR_AttitudeControl::AR_AttitudeControl(AP_AHRS &ahrs) : diff --git a/libraries/APM_Control/AR_AttitudeControl.h b/libraries/APM_Control/AR_AttitudeControl.h index 95b1ddc818..bcb0fdf415 100644 --- a/libraries/APM_Control/AR_AttitudeControl.h +++ b/libraries/APM_Control/AR_AttitudeControl.h @@ -33,26 +33,26 @@ class AR_AttitudeControl { public: // constructor - AR_AttitudeControl(AP_AHRS &ahrs); + AR_AttitudeControl(AP_AHRS &ahrs); - // - // steering controller - // + // + // steering controller + // // return a steering servo output from -1.0 to +1.0 given a desired lateral acceleration rate in m/s/s. // positive lateral acceleration is to the right. - float get_steering_out_lat_accel(float desired_accel, bool skid_steering, bool motor_limit_left, bool motor_limit_right, bool reverse); + float get_steering_out_lat_accel(float desired_accel, bool skid_steering, bool motor_limit_left, bool motor_limit_right, bool reverse); // return a steering servo output from -1 to +1 given a yaw error in radians float get_steering_out_angle_error(float angle_err, bool skid_steering, bool motor_limit_left, bool motor_limit_right, bool reversed); - // return a steering servo output from -1 to +1 given a + // return a steering servo output from -1 to +1 given a // desired yaw rate in radians/sec. Positive yaw is to the right. - float get_steering_out_rate(float desired_rate, bool skid_steering, bool motor_limit_left, bool motor_limit_right, bool reverse); + float get_steering_out_rate(float desired_rate, bool skid_steering, bool motor_limit_left, bool motor_limit_right, bool reverse); - // - // throttle / speed controller - // + // + // throttle / speed controller + // // set limits used by throttle controller // forward/back acceleration max in m/s/s @@ -89,11 +89,11 @@ private: // parameters AC_P _steer_angle_p; // steering angle controller - AC_PID _steer_rate_pid; // steering rate controller - AC_PID _throttle_speed_pid; // throttle speed controller - AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits - AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle. - AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value + AC_PID _steer_rate_pid; // steering rate controller + AC_PID _throttle_speed_pid; // throttle speed controller + AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits + AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle. + AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value // steering control uint32_t _steer_turn_last_ms; // system time of last call to steering rate controller