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Introduce better naming consistency for some union members. remove type

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prefix from a typedef.
This commit is contained in:
Dominic Clifton 2014-05-28 19:18:38 +01:00
parent 80d4f80f7d
commit 3b347fa839
14 changed files with 50 additions and 4651 deletions
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6
src/flight_imu.c
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@ -327,8 +327,8 @@ static void getEstimatedAttitude(void)
// Attitude of the estimated vector
anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
anglerad[AI_PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
inclination.angle.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
inclination.angle.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
inclination.values.rollDeciDegrees = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
inclination.values.pitchDeciDegrees = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
if (sensors(SENSOR_MAG))
heading = calculateHeading(&EstM);
@ -361,7 +361,7 @@ static void getEstimatedAttitude(void)
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclination)
{
return abs(inclination->angle.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->angle.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
return abs(inclination->values.rollDeciDegrees) < DEGREES_80_IN_DECIDEGREES && abs(inclination->values.pitchDeciDegrees) < DEGREES_80_IN_DECIDEGREES;
}
int32_t calculateBaroPid(int32_t vel_tmp, float accZ_tmp, float accZ_old)