[paparazzi-commits] [5251] aligned backslashes

[antoine drouin]

Revision: 5251
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5251
Author:   poine
Date:     2010-08-06 08:46:38 +0000 (Fri, 06 Aug 2010)
Log Message:
-----------
aligned backslashes

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h

Modified: paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h
===================================================================
--- paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h        2010-08-06 
08:45:13 UTC (rev 5250)
+++ paparazzi3/trunk/sw/airborne/math/pprz_algebra_int.h        2010-08-06 
08:46:38 UTC (rev 5251)
@@ -732,20 +732,20 @@
     PPRZ_ITRIG_SIN(stheta, (_e).theta);                                        
\
     int32_t ctheta;                                                    \
     PPRZ_ITRIG_COS(ctheta, (_e).theta);                                        
\
-                                                                       \
+                                                                       \
     int32_t cphi_ctheta = INT_MULT_RSHIFT(cphi,   ctheta, INT32_TRIG_FRAC); \
     int32_t sphi_ctheta = INT_MULT_RSHIFT(sphi,   ctheta, INT32_TRIG_FRAC); \
-                                                                       \
-    (_r).p = - INT_MULT_RSHIFT(sphi, (_ed).psi, INT32_TRIG_FRAC) + (_ed).phi;  
                                \
-    (_r).q = INT_MULT_RSHIFT(sphi_ctheta, (_ed).psi, INT32_TRIG_FRAC) + 
INT_MULT_RSHIFT(cphi, (_ed).theta, INT32_TRIG_FRAC);                            
       \
-    (_r).r = INT_MULT_RSHIFT(cphi_ctheta, (_ed).psi, INT32_TRIG_FRAC) - 
INT_MULT_RSHIFT(sphi, (_ed).theta, INT32_TRIG_FRAC);                            
       \
-                                                                       \
+                                                                       \
+    (_r).p = - INT_MULT_RSHIFT(sphi, (_ed).psi, INT32_TRIG_FRAC) + (_ed).phi; \
+    (_r).q = INT_MULT_RSHIFT(sphi_ctheta, (_ed).psi, INT32_TRIG_FRAC) + 
INT_MULT_RSHIFT(cphi, (_ed).theta, INT32_TRIG_FRAC); \
+    (_r).r = INT_MULT_RSHIFT(cphi_ctheta, (_ed).psi, INT32_TRIG_FRAC) - 
INT_MULT_RSHIFT(sphi, (_ed).theta, INT32_TRIG_FRAC); \
+                                                                       \
   }
 
 #define INT32_RATES_OF_EULERS_DOT(_r, _e, _ed) 
INT32_RATES_OF_EULERS_DOT_321(_r, _e, _ed)
 
-#define INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) {                           
\
-                                                                       \
+#define INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) {                   \
+                                                                       \
     int32_t sphi;                                                      \
     PPRZ_ITRIG_SIN(sphi, (_e).phi);                                    \
     int32_t cphi;                                                      \
@@ -755,15 +755,15 @@
     int64_t ctheta;                                                    \
     PPRZ_ITRIG_COS(ctheta, (_e).theta);                                        
\
                                                                        \
-    if (ctheta != 0) { \
+    if (ctheta != 0) {                                                 \
       int64_t cphi_stheta = INT_MULT_RSHIFT(cphi, stheta, INT32_TRIG_FRAC); \
       int64_t sphi_stheta = INT_MULT_RSHIFT(sphi, stheta, INT32_TRIG_FRAC); \
+                                                                       \
+      (_ed).phi = (_r).p + (int32_t)((sphi_stheta * (int64_t)(_r).q) / ctheta) 
+ (int32_t)((cphi_stheta * (int64_t)(_r).r) / ctheta); \
+      (_ed).theta = INT_MULT_RSHIFT(cphi, (_r).q, INT32_TRIG_FRAC) - 
INT_MULT_RSHIFT(sphi, (_r).r, INT32_TRIG_FRAC); \
+      (_ed).psi = (int32_t)(((int64_t)sphi * (int64_t)(_r).q) / ctheta) + 
(int32_t)(((int64_t)cphi * (int64_t)(_r).r) / ctheta); \
+    }                                                                  \
                                                                        \
-      (_ed).phi = (_r).p + (int32_t)((sphi_stheta * (int64_t)(_r).q) / ctheta) 
+ (int32_t)((cphi_stheta * (int64_t)(_r).r) / ctheta);                          
        \
-      (_ed).theta = INT_MULT_RSHIFT(cphi, (_r).q, INT32_TRIG_FRAC) - 
INT_MULT_RSHIFT(sphi, (_r).r, INT32_TRIG_FRAC);                                 
  \
-      (_ed).psi = (int32_t)(((int64_t)sphi * (int64_t)(_r).q) / ctheta) + 
(int32_t)(((int64_t)cphi * (int64_t)(_r).r) / ctheta);                          
             \
-    } \
-                                                                       \
   }
 
 #define INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) 
INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r)