From affaf86f0d1d8a8c4d7ee456385587e7fa37f53d Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sat, 9 Jun 2018 22:05:05 +1200
Subject: [PATCH 1/2] Improved 'applyDeadband()', added 'fapplyDeadband()' at
 @diehertz' request.

---
 src/main/common/maths.c | 22 ++++++++--------------
 src/main/common/maths.h |  4 ++--
 2 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index dd443ee80b..506d6b7282 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -118,28 +118,22 @@ float powerf(float base, int exp) {
     return result;
 }
 
-int32_t applyDeadband(int32_t value, int32_t deadband)
+int32_t applyDeadband(const int32_t value, const int32_t deadband)
 {
     if (ABS(value) < deadband) {
-        value = 0;
-    } else if (value > 0) {
-        value -= deadband;
-    } else if (value < 0) {
-        value += deadband;
+        return 0;
     }
-    return value;
+
+    return value >= 0 ? value - deadband : value + deadband;
 }
 
-float fapplyDeadband(float value, float deadband)
+float fapplyDeadband(const float value, const float deadband)
 {
     if (fabsf(value) < deadband) {
-        value = 0;
-    } else if (value > 0) {
-        value -= deadband;
-    } else if (value < 0) {
-        value += deadband;
+        return 0;
     }
-    return value;
+
+    return value >=0 ? value - deadband : value + deadband;
 }
 
 void devClear(stdev_t *dev)
diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index 19842ebb40..8095e1c9cf 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -90,8 +90,8 @@ typedef union {
 
 int gcd(int num, int denom);
 float powerf(float base, int exp);
-int32_t applyDeadband(int32_t value, int32_t deadband);
-float fapplyDeadband(float value, float deadband);
+int32_t applyDeadband(const int32_t value, const int32_t deadband);
+float fapplyDeadband(const float value, const float deadband);
 
 void devClear(stdev_t *dev);
 void devPush(stdev_t *dev, float x);

From bc048bc23fd31c1559fbc88553b77072fce97077 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sun, 10 Jun 2018 01:59:29 +1200
Subject: [PATCH 2/2] Fixes from review.

---
 src/main/common/maths.c | 2 +-
 src/main/common/maths.h | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/common/maths.c b/src/main/common/maths.c
index 506d6b7282..565684be82 100644
--- a/src/main/common/maths.c
+++ b/src/main/common/maths.c
@@ -133,7 +133,7 @@ float fapplyDeadband(const float value, const float deadband)
         return 0;
     }
 
-    return value >=0 ? value - deadband : value + deadband;
+    return value >= 0 ? value - deadband : value + deadband;
 }
 
 void devClear(stdev_t *dev)
diff --git a/src/main/common/maths.h b/src/main/common/maths.h
index 8095e1c9cf..19842ebb40 100644
--- a/src/main/common/maths.h
+++ b/src/main/common/maths.h
@@ -90,8 +90,8 @@ typedef union {
 
 int gcd(int num, int denom);
 float powerf(float base, int exp);
-int32_t applyDeadband(const int32_t value, const int32_t deadband);
-float fapplyDeadband(const float value, const float deadband);
+int32_t applyDeadband(int32_t value, int32_t deadband);
+float fapplyDeadband(float value, float deadband);
 
 void devClear(stdev_t *dev);
 void devPush(stdev_t *dev, float x);