From 40a2bee49201358ce8121c5da1cf40d167835a54 Mon Sep 17 00:00:00 2001
From: Michael Keller <github@ike.ch>
Date: Fri, 21 Apr 2017 13:18:23 +1200
Subject: [PATCH] Made float parameter calculation static.

---
 src/main/flight/mixer.c | 15 ++++++++++++---
 src/main/flight/mixer.h |  3 ++-
 src/main/flight/pid.c   |  1 +
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index aef38122da..f02319291d 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -128,6 +128,9 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 mixerMode_e currentMixerMode;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 
+float pidSumLimit;
+float pidSumLimitYaw;
+
 
 static const motorMixer_t mixerQuadX[] = {
     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
@@ -391,6 +394,12 @@ void mixerInit(mixerMode_e mixerMode)
     initEscEndpoints();
 }
 
+void pidInitMixer(struct pidProfile_s *pidProfile)
+{
+    pidSumLimit = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit);
+    pidSumLimitYaw = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw);
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 
 void mixerConfigureOutput(void)
@@ -555,13 +564,13 @@ void mixTable(pidProfile_t *pidProfile)
     // Calculate and Limit the PIDsum
     scaledAxisPIDf[FD_ROLL] =
         constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING,
-        -CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
+        -pidSumLimit, pidSumLimit);
     scaledAxisPIDf[FD_PITCH] =
         constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING,
-        -CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
+        -pidSumLimit, pidSumLimit);
     scaledAxisPIDf[FD_YAW] =
         constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING,
-        -CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw));
+        -pidSumLimitYaw, pidSumLimitYaw);
 
     // Calculate voltage compensation
     const float vbatCompensationFactor = (pidProfile->vbatPidCompensation)  ? calculateVbatPidCompensation() : 1.0f;
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index ad6bcdb1c4..ff9f5fd4cd 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -128,11 +128,12 @@ bool mixerIsOutputSaturated(int axis, float errorRate);
 
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerInit(mixerMode_e mixerMode);
+struct pidProfile_s;
+void pidInitMixer(struct pidProfile_s *pidProfile);
 
 void mixerConfigureOutput(void);
 
 void mixerResetDisarmedMotors(void);
-struct pidProfile_s;
 void mixTable(struct pidProfile_s *pidProfile);
 void syncMotors(bool enabled);
 void writeMotors(void);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 819d2ae6ae..c397ef900f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -277,6 +277,7 @@ void pidInit(const pidProfile_t *pidProfile)
     pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
     pidInitFilters(pidProfile);
     pidInitConfig(pidProfile);
+    pidInitMixer(pidProfile);
 }
 
 // calculates strength of horizon leveling; 0 = none, 1.0 = most leveling