Diff: MadgwickAHRS.cpp

Revision:

2:11ffe983c3f8

Parent:

1:189289643d44

Child:

3:689b64501b7d

--- a/MadgwickAHRS.cpp	Thu Oct 06 17:00:09 2016 +0000
+++ b/MadgwickAHRS.cpp	Thu Oct 06 17:34:56 2016 +0000
@@ -41,7 +41,8 @@
 //---------------------------------------------------------------------------------------------------
 // AHRS algorithm update
 
-void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
+void MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+{
     float recipNorm;
     float s0, s1, s2, s3;
     float qDot1, qDot2, qDot3, qDot4;
@@ -67,7 +68,7 @@
         recipNorm = invSqrt(ax * ax + ay * ay + az * az);
         ax *= recipNorm;
         ay *= recipNorm;
-        az *= recipNorm;   
+        az *= recipNorm;
 
         // Normalise magnetometer measurement
         recipNorm = invSqrt(mx * mx + my * my + mz * mz);
@@ -140,7 +141,8 @@
 //---------------------------------------------------------------------------------------------------
 // IMU algorithm update
 
-void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) {
+void MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az)
+{
     float recipNorm;
     float s0, s1, s2, s3;
     float qDot1, qDot2, qDot3, qDot4;
@@ -159,7 +161,7 @@
         recipNorm = invSqrt(ax * ax + ay * ay + az * az);
         ax *= recipNorm;
         ay *= recipNorm;
-        az *= recipNorm;   
+        az *= recipNorm;
 
         // Auxiliary variables to avoid repeated arithmetic
         _2q0 = 2.0f * q0;
@@ -212,7 +214,8 @@
 // Fast inverse square-root
 // See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
 
-float invSqrt(float x) {
+float invSqrt(float x)
+{
     float halfx = 0.5f * x;
     float y = x;
     long i = *(long*)&y;