Traj Smoothing - make format

PX4 · Feb 8, 2019 · f901dff · f901dff
1 parent f9247a0
commit f901dff
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -155,11 +155,13 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 		_smoothing[0].setCurrentPosition(_position(0));
 		_smoothing[1].setCurrentPosition(_position(1));
 	}
+
 	if (!_position_lock_z_active) {
 		_smoothing[2].setCurrentPosition(_position(2));
 	}
 
 	Vector3f pos_sp_smooth;
+
 	for (int i = 0; i < 3; ++i) {
 
 		_smoothing[i].integrate(_acceleration_setpoint(i), _vel_sp_smooth(i), pos_sp_smooth(i));
@@ -175,6 +177,7 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 		_position_setpoint_xy_locked(1) = pos_sp_smooth(1);
 		_position_lock_xy_active = true;
 	}
+
 	if (fabsf(_vel_sp_smooth(2)) < 0.01f &&
 	    fabsf(_acceleration_setpoint(2)) < .2f &&
 	    fabsf(_sticks_expo(2)) <= FLT_EPSILON) {

diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp b/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
@@ -92,7 +92,7 @@ float VelocitySmoothing::computeT1(float accel_prev, float vel_prev, float vel_s
 	if (T1_plus >= 0.f && T3_plus >= 0.f) {
 		T1 = T1_plus;
 
-	} else if ( T1_minus >= 0.f && T3_minus >= 0.f) {
+	} else if (T1_minus >= 0.f && T3_minus >= 0.f) {
 		T1 = T1_minus;
 	}