From d4196f7f0c9eb6548820da7e9a11a406f766f448 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 5 Aug 2016 22:38:02 -0400
Subject: [PATCH] mc_att_control fix and enforce code style
---
Tools/check_code_style_all.sh | 1 -
src/modules/mc_att_control/mc_att_control_main.cpp | 3 ++-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/Tools/check_code_style_all.sh b/Tools/check_code_style_all.sh
index a526a0b011..56c86eeff3 100755
--- a/Tools/check_code_style_all.sh
+++ b/Tools/check_code_style_all.sh
@@ -18,7 +18,6 @@ find src/ \
-path src/modules/commander -prune -o \
-path src/modules/ekf_att_pos_estimator -prune -o \
-path src/modules/mavlink -prune -o \
- -path src/modules/mc_att_control -prune -o \
-path src/modules/mc_att_control_multiplatform -prune -o \
-path src/modules/mc_pos_control -prune -o \
-path src/modules/mc_pos_control_multiplatform -prune -o \
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 695db0a668..17f64659b4 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -435,6 +435,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
}
} while (_control_task != -1);
}
+
if (_ts_opt_recovery != nullptr) {
delete _ts_opt_recovery;
}
@@ -717,7 +718,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
* calculate angle and axis for R -> R_sp rotation directly */
math::Quaternion q_error;
q_error.from_dcm(R.transposed() * R_sp);
- math::Vector<3> e_R_d = q_error(0) >= 0.0f ? q_error.imag() * 2.0f: -q_error.imag() * 2.0f;
+ math::Vector<3> e_R_d = q_error(0) >= 0.0f ? q_error.imag() * 2.0f : -q_error.imag() * 2.0f;
/* use fusion of Z axis based rotation and direct rotation */
float direct_w = e_R_z_cos * e_R_z_cos * yaw_w;
--
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