TradHeli: bug fix for main rotor ramp up

The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.

Also fixed some incorrect indentation

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -706,11 +706,12 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
     // range check rotor_target
     rotor_target = constrain_int16(rotor_target,0,1000);
 
-    // initialise rotor_out to our estimated rotor speed
-    _rotor_out = _rotor_speed_estimate;
-
     // ramp rotor esc output towards target
     if (_rotor_out < rotor_target) {
+        // allow rotor out to jump to rotor's current speed
+        if (_rotor_out < _rotor_speed_estimate) {
+            _rotor_out = _rotor_speed_estimate;
+        }
         // ramp up slowly to target
         _rotor_out += _rsc_ramp_increment;
         if (_rotor_out > rotor_target) {
@@ -718,15 +719,15 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
         }
     }else{
         // ramping down happens instantly
-            _rotor_out = rotor_target;
-        }
+        _rotor_out = rotor_target;
+    }
 
     // ramp rotor speed estimate towards rotor out
     if (_rotor_speed_estimate < _rotor_out) {
         _rotor_speed_estimate += _rsc_runup_increment;
         if (_rotor_speed_estimate > _rotor_out) {
             _rotor_speed_estimate = _rotor_out;
-    }
+        }
     }else{
         _rotor_speed_estimate -= _rsc_runup_increment;
         if (_rotor_speed_estimate < _rotor_out) {
@@ -743,7 +744,7 @@ void AP_MotorsHeli::rotor_ramp(int16_t rotor_target)
     }
 
     // output to rsc servo
-        write_rsc(_rotor_out);
+    write_rsc(_rotor_out);
 }
 
 // tail_ramp - ramps tail motor towards target.  Only used for direct drive variable pitch tails