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Fix vector, quaternion, pid and lpf libraries curly braces code style

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This commit is contained in:
Oleg Kalachev
2024-02-06 13:50:56 +03:00
parent 31d382dd86
commit 410fccf015
4 changed files with 36 additions and 72 deletions
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flix/pid.h
+2 -4
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@@ -21,8 +21,7 @@ public:
PID(float p, float i, float d, float windup = 0, float dAlpha = 1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha) {};
float update(float error, float dt)
{
float update(float error, float dt) {
integral += error * dt;
if (isfinite(prevError) && dt > 0) {
@@ -38,8 +37,7 @@ public:
return p * error + constrain(i * integral, -windup, windup) + d * derivative; // PID
}
void reset()
{
void reset() {
prevError = NAN;
integral = 0;
derivative = 0;