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Whitespace/compiler warnings cleanups by Dominic Clifton;

Browse source 
Slight tweak of new althold defaults
NOT-flight-tested .hex committing so people can commence with althold testing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@391 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-08-31 01:40:13 +00:00
parent 77a241bd5f
commit 509e349e69
11 changed files with 3312 additions and 3231 deletions
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14
src/mw.c
View file

@ -18,7 +18,7 @@ int16_t telemTemperature1; // gyro sensor temperature
int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0;
int16_t rcData[8] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023]
@ -275,7 +275,7 @@ static void mwDisarm(void)
static void mwVario(void)
{
}
static int32_t errorGyroI[3] = { 0, 0, 0 };
@ -285,7 +285,7 @@ static void pidMultiWii(void)
{
int axis, prop;
int32_t error, errorAngle;
int32_t PTerm, ITerm, PTermACC, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static int32_t delta1[3], delta2[3];
int32_t deltaSum;
@ -310,7 +310,7 @@ static void pidMultiWii(void)
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
if (abs(gyroData[axis]) > 640)
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
}
@ -404,7 +404,7 @@ static void pidRewrite(void)
delta1[axis] = delta;
DTerm = (deltaSum * cfg.D8[axis]) >> 8;
// -----calculate total PID output
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
}
}
@ -429,7 +429,9 @@ void loop(void)
uint8_t stTmp = 0;
int i;
static uint32_t rcTime = 0;
#ifdef BARO
static int16_t initialThrottleHold;
#endif
static uint32_t loopTime;
uint16_t auxState = 0;
static uint8_t GPSNavReset = 1;
@ -621,7 +623,7 @@ void loop(void)
if (rcOptions[BOXHORIZON]) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
errorAngleI[ROLL] = 0;
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
f.HORIZON_MODE = 1;
}