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Introduce better naming consistency for some union members. remove type

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prefix from a typedef.

Conflicts:

	obj/cleanflight_OLIMEXINO.hex
	src/flight_common.c
This commit is contained in:
Dominic Clifton 2014-05-28 20:04:07 +01:00
parent dcbb82c845
commit 4a23491d49
16 changed files with 68 additions and 68 deletions
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14
src/flight_common.c
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@ -35,8 +35,8 @@ pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are w
void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
{
rollAndPitchTrims->trims.roll = 0;
rollAndPitchTrims->trims.pitch = 0;
rollAndPitchTrims->values.roll = 0;
rollAndPitchTrims->values.pitch = 0;
}
void resetErrorAngle(void)
@ -84,7 +84,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.rawAngles[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
@ -94,7 +94,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
// it's the ANGLE mode - control is angle based, so control loop is needed
AngleRate = errorAngle * pidProfile->A_level;
} else {
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRate to add a little auto-level feel
@ -156,12 +156,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// observe max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@ -224,7 +224,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
} else {
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
+max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));