[paparazzi-commits] [4060] correct indent

[Gautier Hattenberger]

Revision: 4060
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4060
Author:   gautier
Date:     2009-09-03 11:18:02 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
correct indent

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c

Modified: paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c      2009-09-03 
11:14:21 UTC (rev 4059)
+++ paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c      2009-09-03 
11:18:02 UTC (rev 4060)
@@ -416,39 +416,39 @@
   if (GPS_LAG_N == 0) {
 #endif
 
-       b2_hff_update_x(&b2_hff_state, booz_ins_gps_pos_m_ned.x);
-       b2_hff_update_y(&b2_hff_state, booz_ins_gps_pos_m_ned.y);
+    b2_hff_update_x(&b2_hff_state, booz_ins_gps_pos_m_ned.x);
+    b2_hff_update_y(&b2_hff_state, booz_ins_gps_pos_m_ned.y);
 #ifdef B2_HFF_UPDATE_SPEED
-       b2_hff_update_xdot(&b2_hff_state, booz_ins_gps_speed_m_s_ned.x);
-       b2_hff_update_ydot(&b2_hff_state, booz_ins_gps_speed_m_s_ned.y);
+    b2_hff_update_xdot(&b2_hff_state, booz_ins_gps_speed_m_s_ned.x);
+    b2_hff_update_ydot(&b2_hff_state, booz_ins_gps_speed_m_s_ned.y);
 #endif
 
 #ifdef GPS_LAG
   } else if (b2_hff_rb_n > 0) {
-       /* roll back if state was saved approx when GPS was valid */
-       lag_counter_err = b2_hff_rb_last->lag_counter - GPS_LAG_N;
-       PRINT_DBG(2, ("update. rb_n: %d  lag_counter: %d  lag_cnt_err: %d\n", 
b2_hff_rb_n, b2_hff_rb_last->lag_counter, lag_counter_err));
-       if (abs(lag_counter_err) <= GPS_LAG_TOL_N) {
-         b2_hff_rb_last->rollback = TRUE;
-         b2_hff_update_x(b2_hff_rb_last, booz_ins_gps_pos_m_ned.x);
-         b2_hff_update_y(b2_hff_rb_last, booz_ins_gps_pos_m_ned.y);
+    /* roll back if state was saved approx when GPS was valid */
+    lag_counter_err = b2_hff_rb_last->lag_counter - GPS_LAG_N;
+    PRINT_DBG(2, ("update. rb_n: %d  lag_counter: %d  lag_cnt_err: %d\n", 
b2_hff_rb_n, b2_hff_rb_last->lag_counter, lag_counter_err));
+    if (abs(lag_counter_err) <= GPS_LAG_TOL_N) {
+      b2_hff_rb_last->rollback = TRUE;
+      b2_hff_update_x(b2_hff_rb_last, booz_ins_gps_pos_m_ned.x);
+      b2_hff_update_y(b2_hff_rb_last, booz_ins_gps_pos_m_ned.y);
 #ifdef B2_HFF_UPDATE_SPEED
-         b2_hff_update_xdot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.x);
-         b2_hff_update_ydot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.y);
+      b2_hff_update_xdot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.x);
+      b2_hff_update_ydot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.y);
 #endif
-         past_save_counter = GPS_DT_N-1 + lag_counter_err;
-         PRINT_DBG(2, ("gps updated. past_save_counter: %d\n", 
past_save_counter));
-         b2_hff_propagate_past(b2_hff_rb_last);
-       } else if (lag_counter_err >= GPS_DT_N - 2*GPS_LAG_TOL_N) {
-         /* apparently missed a GPS update, try next saved state */
-         PRINT_DBG(2, ("try next saved state\n"));
-         b2_hff_rb_drop_last();
-         b2_hff_update_gps();
-       }
+      past_save_counter = GPS_DT_N-1 + lag_counter_err;
+      PRINT_DBG(2, ("gps updated. past_save_counter: %d\n", 
past_save_counter));
+      b2_hff_propagate_past(b2_hff_rb_last);
+    } else if (lag_counter_err >= GPS_DT_N - 2*GPS_LAG_TOL_N) {
+      /* apparently missed a GPS update, try next saved state */
+      PRINT_DBG(2, ("try next saved state\n"));
+      b2_hff_rb_drop_last();
+      b2_hff_update_gps();
+    }
   } else if (save_counter < 0) {
-       /* ringbuffer empty -> save output filter state at next GPS validity 
point in time */
-       save_counter = GPS_DT_N-1 - (GPS_LAG_N % GPS_DT_N);
-       PRINT_DBG(2, ("rb empty, save counter set: %d\n", save_counter));
+    /* ringbuffer empty -> save output filter state at next GPS validity point 
in time */
+    save_counter = GPS_DT_N-1 - (GPS_LAG_N % GPS_DT_N);
+    PRINT_DBG(2, ("rb empty, save counter set: %d\n", save_counter));
   }
 
 #endif /* GPS_LAG */