Diff: quadcopter.cpp

Revision:

13:291ba30c7806

Parent:

12:422963993df5

Child:

14:64b06476d943

--- a/quadcopter.cpp	Sat Apr 02 21:40:37 2016 +0000
+++ b/quadcopter.cpp	Sat Apr 02 22:06:46 2016 +0000
@@ -26,9 +26,6 @@
     accel_ = Adafruit_LSM303_Accel_Unified(30301);
     mag_ = Adafruit_LSM303_Mag_Unified(30302);
     gyro_ = Adafruit_L3GD20_Unified(20);
-    
-    
-    
 }
 
 void Quadcopter::initAllSensors()
@@ -46,13 +43,13 @@
     if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
     }
 
-        gyro_.getEvent(&gyro_event_);
+    gyro_.getEvent(&gyro_event_);
 
-        gyro_event_.gyro.x -= offsetAngRate_.x;
-        gyro_event_.gyro.y -= offsetAngRate_.y;
-        gyro_event_.gyro.z -= offsetAngRate_.z;
-        
-        
+    gyro_event_.gyro.x -= offsetAngRate_.x;
+    gyro_event_.gyro.y -= offsetAngRate_.y;
+    gyro_event_.gyro.z -= offsetAngRate_.z;
+
+
     // measured values (will come from IMU/parameter class/Input to function later)
     // angles
     state_.phi = orientation_.roll;
@@ -97,10 +94,8 @@
 
     //print("F: %f M_x: %f M_y: %f M_z: %f\n\r",  controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
     //        pc.printf("F: %f\n\r",  F);
-
+}
 
-
-}
 motors Quadcopter::getPwm()
 {
     //motors motorPwm_;// weired errror, should not be necessary