Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

Simplify Fixed point Math notations

Browse source
This commit is contained in:
borisbstyle 2016-03-03 16:17:10 +01:00
parent 431ca856cf
commit 257865cff2
5 changed files with 25 additions and 38 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/flight/mixer.c
View file

@ -753,7 +753,7 @@ void acroPlusApply(void) {
for (axis = 0; axis < 2; axis++) {
int16_t factor;
q_number_t wowFactor;
fix12_t wowFactor;
int16_t rcCommandDeflection = constrain(rcCommand[axis], -500, 500); // Limit stick input to 500 (rcCommand 100)
int16_t acroPlusStickOffset = rxConfig->acroPlusOffset * 5;
int16_t motorRange = escAndServoConfig->maxthrottle - escAndServoConfig->minthrottle;
@ -766,11 +766,11 @@ void acroPlusApply(void) {
} else {
rcCommandDeflection += acroPlusStickOffset;
}
qConstruct(&wowFactor,ABS(rcCommandDeflection) * rxConfig->acroPlusFactor / 100, 500, Q12_NUMBER);
wowFactor = qConstruct(ABS(rcCommandDeflection) * rxConfig->acroPlusFactor / 100, 500);
factor = qMultiply(wowFactor, (rcCommandDeflection * motorRange) / 500);
wowFactor.num = wowFactor.den - wowFactor.num;
wowFactor = Q12 - wowFactor;
} else {
qConstruct(&wowFactor, 1, 1, Q12_NUMBER);
wowFactor = Q12;
factor = 0;
}
axisPID[axis] = factor + qMultiply(wowFactor, axisPID[axis]);
@ -780,8 +780,8 @@ void acroPlusApply(void) {
void mixTable(void)
{
uint32_t i;
q_number_t vbatCompensationFactor;
static q_number_t mixReduction;
fix12_t vbatCompensationFactor;
static fix12_t mixReduction;
uint8_t axis;
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
@ -857,7 +857,7 @@ void mixTable(void)
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
qConstruct(&mixReduction, throttleRange, rollPitchYawMixRange, Q12_NUMBER);
mixReduction = qConstruct(throttleRange, rollPitchYawMixRange);
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);