Diff: AttitudeController/AttitudeController.cpp

Revision:

7:fb6174d2ea78

Parent:

6:09cc3b307252

--- a/AttitudeController/AttitudeController.cpp	Wed Oct 31 01:04:12 2018 +0000
+++ b/AttitudeController/AttitudeController.cpp	Mon Nov 05 11:12:11 2018 +0000
@@ -10,15 +10,15 @@
 void AttitudeController::control ( float phi_r, float theta_r, float psi_r, float phi, float theta, float psi)
 {
     tau_phi = single_axis_control ( phi_r , phi , Kp_phi , Td_phi , I_xx, last_erro_phi);
-    
+
     last_erro_phi = last_erro;
-    
+
     tau_theta = single_axis_control (  psi_r , psi , Kp_psi , Td_psi , I_zz, last_erro_psi);
-    
+
     last_erro_theta = last_erro;
-    
+
     tau_psi = single_axis_control ( theta_r , theta , Kp_theta , Td_theta , I_yy, last_erro_theta);
-    
+
     last_erro_psi = last_erro;
 }
 // Control torque of a single axis given reference angles and current angles and angular velocities ( with given gains and /or time constants and moments of inertia )