Diff: SensorFusion.h

Revision:

46:fd5a62296b12

Parent:

43:6251c0169f4f

--- a/SensorFusion.h	Wed May 27 11:45:00 2015 +0000
+++ b/SensorFusion.h	Wed May 27 13:01:43 2015 +0000
@@ -16,10 +16,14 @@
     public:
         virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
     };
-    
-    void setDelegate(Delegate &d) { delegate = &d; }
 
-    virtual bool start() { return false; }
+    void setDelegate(Delegate &d) {
+        delegate = &d;
+    }
+
+    virtual bool start() {
+        return false;
+    }
     virtual void stop() {}
 
 protected:
@@ -37,16 +41,16 @@
     virtual void sensorUpdate(Vector3 gyro_degrees);
     virtual bool start();
     virtual void stop();
-    
+
 protected:
     Accelerometer   accel;
     Gyroscope       gyro;
     float const     deltat, beta;
-    
+
     LowPassFilter   lowpassX;
     LowPassFilter   lowpassY;
     LowPassFilter   lowpassZ;
-    
+
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
 };
 
@@ -57,7 +61,7 @@
     virtual void sensorUpdate(Vector3 gyro_degrees);
     virtual bool start();
     virtual void stop();
-    
+
 protected:
     Magnetometer    magneto;
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);