From 39c455a3eb0e89641f164a96b3ac8a2d47fae916 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Fri, 11 Dec 2015 00:44:11 +0100
Subject: [PATCH] Replace CALC_OFFSET with ABS

---
 src/main/common/filter.c |  2 +-
 src/main/flight/pid.c    | 10 ++++------
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 9f6373f49f..8522158537 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -29,7 +29,7 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
 
 // 7 Tap FIR filter as described here:
 // Thanks to Qcopter
-void filterApply7TapFIR(int16_t data[]) {
+void filterApplyFIR(int16_t data[]) {
     int16_t FIRcoeff[7] = { 12, 23, 40, 51, 52, 40, 38 }; // TODO - More coefficients needed. Now fixed to 1khz
     static int16_t gyro_delay[3][7] = { {0}, {0}, {0} };
     int32_t FIRsum;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index f6477a1bb6..8a4e5cccb5 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -51,8 +51,6 @@ extern float dT;
 extern float totalErrorRatioLimit;
 extern bool allowITermShrinkOnly;
 
-#define CALC_OFFSET(x) ( (x > 0) ?  x : -x )
-
 int16_t axisPID[3];
 
 #ifdef BLACKBOX
@@ -178,10 +176,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
 
         if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
-            if (CALC_OFFSET(errorGyroIf[axis]) < CALC_OFFSET(previousErrorGyroIf[axis])) {
+            if (ABS(errorGyroIf[axis]) < ABS(previousErrorGyroIf[axis])) {
                 previousErrorGyroIf[axis] = errorGyroIf[axis];
             } else {
-                errorGyroIf[axis] = constrain(errorGyroIf[axis], -CALC_OFFSET(previousErrorGyroIf[axis]), CALC_OFFSET(previousErrorGyroIf[axis]));
+                errorGyroIf[axis] = constrain(errorGyroIf[axis], -ABS(previousErrorGyroIf[axis]), ABS(previousErrorGyroIf[axis]));
             }
         } else {
             previousErrorGyroIf[axis] = errorGyroIf[axis];
@@ -329,10 +327,10 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         ITerm = errorGyroI[axis] >> 13;
 
         if (allowITermShrinkOnly || totalErrorRatioLimit < 0.98f) {
-            if (CALC_OFFSET(errorGyroI[axis]) < CALC_OFFSET(previousErrorGyroI[axis])) {
+            if (ABS(errorGyroI[axis]) < ABS(previousErrorGyroI[axis])) {
                 previousErrorGyroI[axis] = errorGyroI[axis];
             } else {
-                errorGyroI[axis] = constrain(errorGyroI[axis], -CALC_OFFSET(previousErrorGyroI[axis]), CALC_OFFSET(previousErrorGyroI[axis]));
+                errorGyroI[axis] = constrain(errorGyroI[axis], -ABS(previousErrorGyroI[axis]), ABS(previousErrorGyroI[axis]));
             }
         } else {
             previousErrorGyroI[axis] = errorGyroI[axis];