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Code Issues Wiki Activity

Rename freq parameter; remove UT warnings

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This commit is contained in:
Joel Fuster 2015-01-04 22:15:09 -05:00
parent dc3271255c
commit 06ce23951b
5 changed files with 12 additions and 8 deletions
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12
src/main/flight/mixer.c
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@ -58,14 +58,16 @@
#include "drivers/system.h"
extern int16_t debug[4];
#ifndef UNIT_TEST
static uint8_t motorCount = 0;
static int useServo;
static uint8_t servoCount;
#endif
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static uint8_t servoCount;
static servoParam_t *servoConf;
static mixerConfig_t *mixerConfig;
@ -75,8 +77,10 @@ static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig;
static gimbalConfig_t *gimbalConfig;
#ifndef UNIT_TEST
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static mixerMode_e currentMixerMode;
#endif
static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
static const motorMixer_t mixerQuadX[] = {
@ -775,7 +779,7 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = (int16_t)lowpass_fixed(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq_idx);
servo[servoIdx] = (int16_t)lowpass_fixed(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq);
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);