Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity

Whitespace tidy

Browse source
This commit is contained in:
Martin Budden 2017-07-05 06:36:22 +01:00
parent ee8763bbf1
commit 3d4f0bb137
97 changed files with 555 additions and 555 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/flight/mixer.c
View file

@ -339,7 +339,7 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void) {
switch(motorConfig()->dev.motorPwmProtocol) {
switch (motorConfig()->dev.motorPwmProtocol) {
#ifdef USE_DSHOT
case PWM_TYPE_PROSHOT1000:
case PWM_TYPE_DSHOT1200:
@ -516,7 +516,7 @@ void mixTable(pidProfile_t *pidProfile)
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if(isMotorProtocolDshot()) mixerInversion = true;
if (isMotorProtocolDshot()) mixerInversion = true;
} else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
@ -528,7 +528,7 @@ void mixTable(pidProfile_t *pidProfile)
motorOutputMin = motorOutputLow;
throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if(isMotorProtocolDshot()) mixerInversion = true;
if (isMotorProtocolDshot()) mixerInversion = true;
} else { // Deadband handling from positive to negative
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
@ -561,8 +561,8 @@ void mixTable(pidProfile_t *pidProfile)
float motorMixMax = 0, motorMixMin = 0;
const int yawDirection = GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
int motorDirection = GET_DIRECTION(isMotorsReversed());
for (int i = 0; i < motorCount; i++) {
float mix =
scaledAxisPidRoll * currentMixer[i].roll * (motorDirection) +