UIUC FDM - detabbing of all files.

[flightgear.git] / src / FDM / UIUCModel / uiuc_alh_ap.cpp

diff --git a/src/FDM/UIUCModel/uiuc_alh_ap.cpp b/src/FDM/UIUCModel/uiuc_alh_ap.cpp
index ab908ab403adb50db7c1b0bd7a0ac36c132ba1d4..384e9346aed38a345d9004b07885fabbeb5303c5 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_alh_ap.cpp
+++ b/src/FDM/UIUCModel/uiuc_alh_ap.cpp
@@ -40,7 +40,7 @@
 #include "uiuc_alh_ap.h"  
 
 double alh_ap(double pitch, double pitchrate, double H_ref, double H, 
-             double V, double sample_t, int init)
+              double V, double sample_time, int init)
 {
   // changes by RD so function keeps previous values
   static double u2prev;
@@ -49,8 +49,6 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
   static double x3prev;
   static double ubarprev;
 
-  double pi = 3.14159;
-
   if (init == 0)
     {
       u2prev = 0;
@@ -60,36 +58,36 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
       ubarprev = 0;
     }
 
-       double Ki;
-       double Ktheta;
-       double Kq;
-       double deltae;
-       double Kh,Kd;
-       double x1, x2, x3;
-       Ktheta = -0.0004*V*V + 0.0479*V - 2.409;
-       Kq = -0.0005*V*V + 0.054*V - 1.5931;
-       Ki = 0.5;
-       Kh = -0.25*pi/180 + (((-0.15 + 0.25)*pi/180)/(20))*(V-60); 
-       Kd = -0.0025*V + 0.2875;
-       double u1,u2,u3,ubar;
-       ubar = (1-Kd*sample_t)*ubarprev + Ktheta*pitchrate*sample_t;
-       u1 = Kh*(H_ref-H) - ubar;
-       u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_t;
-       u3 = Kq*pitchrate;
-       double totalU;
-       totalU = u1 + u2 - u3;
-       u2prev = u2;
-       ubarprev = ubar;
+        double Ki;
+        double Ktheta;
+        double Kq;
+        double deltae;
+        double Kh,Kd;
+        double x1, x2, x3;
+        Ktheta = -0.0004*V*V + 0.0479*V - 2.409;
+        Kq = -0.0005*V*V + 0.054*V - 1.5931;
+        Ki = 0.5;
+        Kh = -0.25*LS_PI/180 + (((-0.15 + 0.25)*LS_PI/180)/(20))*(V-60); 
+        Kd = -0.0025*V + 0.2875;
+        double u1,u2,u3,ubar;
+        ubar = (1-Kd*sample_time)*ubarprev + Ktheta*pitchrate*sample_time;
+        u1 = Kh*(H_ref-H) - ubar;
+        u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_time;
+        u3 = Kq*pitchrate;
+        double totalU;
+        totalU = u1 + u2 - u3;
+        u2prev = u2;
+        ubarprev = ubar;
 // the following is using the actuator dynamics given in Beaver.
 // the actuator dynamics for Twin Otter are still unavailable.
-       x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
-25.1568*totalU)*sample_t;
-       x2 = x2prev + x3prev*sample_t;
-       x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
-5.8694*totalU)*sample_t;
-       deltae = 57.2958*x2;
-       x1prev = x1;
-       x2prev = x2;
-       x3prev = x3;
+        x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
+25.1568*totalU)*sample_time;
+        x2 = x2prev + x3prev*sample_time;
+        x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
+5.8694*totalU)*sample_time;
+        deltae = 57.2958*x2;
+        x1prev = x1;
+        x2prev = x2;
+        x3prev = x3;
 return deltae;
 }