Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2.cpp

Revision:
11:f9fd410c48c2
Parent:
10:ef5fe86f67fe
Child:
12:953d25061417
--- a/RTOS-Threads/src/Task2.cpp	Thu May 01 23:50:21 2014 +0000
+++ b/RTOS-Threads/src/Task2.cpp	Fri May 02 07:22:09 2014 +0000
@@ -15,11 +15,11 @@
 
 void Task2(void const *argument)
 {
-        imu.getRotation(&gx, &gy, &gz);
+    imu.getRotation(&gx, &gy, &gz);
     gyro[0] = ((float) gx / 32.8) + 2;
     gyro[1] = ((float) gy / 32.8);
     gyro[2] = ((float) gz / 32.8);
-    
+
     yawPIDrate.setSetPoint((RCCommand[0]-1500)*9/100);
     pitchPIDrate.setSetPoint((RCCommand[1]-1500)*-1*9/100);
     rollPIDrate.setSetPoint((RCCommand[2]-1500)*9/100);
@@ -43,7 +43,7 @@
     rollPIDstable.setProcessValue(ypr[2]);
 
     feed into ratePID();
-    
+
     counterTask1 = false;
     } else {
         rate as above
@@ -51,9 +51,9 @@
     */
 
     counterESC = true;
-    
+
     if (gyro_out)
-            BT.printf("%4d %4d %4d\n", gyro[0], gyro[1], gyro[2]);
+        BT.printf("%4d %4d %4d\n", gyro[0], gyro[1], gyro[2]);
 
     //LED[2] = !LED[2];
 }
\ No newline at end of file