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Minor whitespace tidy

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This commit is contained in:
Martin Budden 2016-12-15 15:13:35 +00:00
parent 9653249716
commit 555475ec95
3 changed files with 138 additions and 138 deletions
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32
src/main/common/filter.c
View file

@ -89,22 +89,22 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
float b0 = 0, b1 = 0, b2 = 0, a0 = 0, a1 = 0, a2 = 0; float b0 = 0, b1 = 0, b2 = 0, a0 = 0, a1 = 0, a2 = 0;
switch (filterType) { switch (filterType) {
case FILTER_LPF: case FILTER_LPF:
b0 = (1 - cs) / 2; b0 = (1 - cs) / 2;
b1 = 1 - cs; b1 = 1 - cs;
b2 = (1 - cs) / 2; b2 = (1 - cs) / 2;
a0 = 1 + alpha; a0 = 1 + alpha;
a1 = -2 * cs; a1 = -2 * cs;
a2 = 1 - alpha; a2 = 1 - alpha;
break; break;
case FILTER_NOTCH: case FILTER_NOTCH:
b0 = 1; b0 = 1;
b1 = -2 * cs; b1 = -2 * cs;
b2 = 1; b2 = 1;
a0 = 1 + alpha; a0 = 1 + alpha;
a1 = -2 * cs; a1 = -2 * cs;
a2 = 1 - alpha; a2 = 1 - alpha;
break; break;
} }
// precompute the coefficients // precompute the coefficients

132
src/main/fc/mw.c
View file

@ -212,16 +212,16 @@ void processRcCommand(void)
if (isRXDataNew) { if (isRXDataNew) {
// Set RC refresh rate for sampling and channels to filter // Set RC refresh rate for sampling and channels to filter
switch (rxConfig()->rcInterpolation) { switch (rxConfig()->rcInterpolation) {
case(RC_SMOOTHING_AUTO): case(RC_SMOOTHING_AUTO):
rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
break; break;
case(RC_SMOOTHING_MANUAL): case(RC_SMOOTHING_MANUAL):
rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval; rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
break; break;
case(RC_SMOOTHING_OFF): case(RC_SMOOTHING_OFF):
case(RC_SMOOTHING_DEFAULT): case(RC_SMOOTHING_DEFAULT):
default: default:
rxRefreshRate = rxGetRefreshRate(); rxRefreshRate = rxGetRefreshRate();
} }
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1; rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
@ -696,71 +696,71 @@ void subTaskMainSubprocesses(void)
gyro.dev.temperature(&telemTemperature1); gyro.dev.temperature(&telemTemperature1);
} }
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG)) { if (sensors(SENSOR_MAG)) {
updateMagHold(); updateMagHold();
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
setpointRate[YAW] = 0;
} }
#endif
if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) { #ifdef GTUNE
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value); updateGtuneState();
} #endif
processRcCommand(); #if defined(BARO) || defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
#ifdef GPS updateRcCommands();
if (sensors(SENSOR_GPS)) { if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) { if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
updateGpsStateForHomeAndHoldMode(); applyAltHold(&masterConfig.airplaneConfig);
} }
} }
#endif #endif
#ifdef USE_SDCARD // If we're armed, at minimum throttle, and we do arming via the
afatfs_poll(); // sticks, do not process yaw input from the rx. We do this so the
#endif // motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
setpointRate[YAW] = 0;
}
#ifdef BLACKBOX if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
if (!cliMode && feature(FEATURE_BLACKBOX)) { rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
handleBlackbox(startTime); }
processRcCommand();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
} }
#endif }
#endif
#ifdef TRANSPONDER #ifdef USE_SDCARD
transponderUpdate(startTime); afatfs_poll();
#endif #endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox(startTime);
}
#endif
#ifdef TRANSPONDER
transponderUpdate(startTime);
#endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
} }
void subTaskMotorUpdate(void) void subTaskMotorUpdate(void)

112
src/main/flight/servos.c
View file

@ -269,50 +269,50 @@ void writeServos(void)
uint8_t servoIndex = 0; uint8_t servoIndex = 0;
switch (currentMixerMode) { switch (currentMixerMode) {
case MIXER_BICOPTER: case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]); pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]); pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
break; break;
case MIXER_TRI: case MIXER_TRI:
case MIXER_CUSTOM_TRI: case MIXER_CUSTOM_TRI:
if (servoMixerConfig->tri_unarmed_servo) { if (servoMixerConfig->tri_unarmed_servo) {
// if unarmed flag set, we always move servo // if unarmed flag set, we always move servo
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
} else {
// otherwise, only move servo when copter is armed
if (ARMING_FLAG(ARMED))
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]); pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
} else { else
// otherwise, only move servo when copter is armed pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
if (ARMING_FLAG(ARMED)) }
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]); break;
else
pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
}
break;
case MIXER_FLYING_WING: case MIXER_FLYING_WING:
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]); pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]); pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
break; break;
case MIXER_DUALCOPTER: case MIXER_DUALCOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]); pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]); pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
break; break;
case MIXER_CUSTOM_AIRPLANE: case MIXER_CUSTOM_AIRPLANE:
case MIXER_AIRPLANE: case MIXER_AIRPLANE:
for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) { for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]); pwmWriteServo(servoIndex++, servo[i]);
} }
break; break;
case MIXER_SINGLECOPTER: case MIXER_SINGLECOPTER:
for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) { for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]); pwmWriteServo(servoIndex++, servo[i]);
} }
break; break;
default: default:
break; break;
} }
// Two servos for SERVO_TILT, if enabled // Two servos for SERVO_TILT, if enabled
@ -410,27 +410,27 @@ void servoTable(void)
{ {
// airplane / servo mixes // airplane / servo mixes
switch (currentMixerMode) { switch (currentMixerMode) {
case MIXER_CUSTOM_AIRPLANE: case MIXER_CUSTOM_AIRPLANE:
case MIXER_FLYING_WING: case MIXER_FLYING_WING:
case MIXER_AIRPLANE: case MIXER_AIRPLANE:
case MIXER_BICOPTER: case MIXER_BICOPTER:
case MIXER_CUSTOM_TRI: case MIXER_CUSTOM_TRI:
case MIXER_TRI: case MIXER_TRI:
case MIXER_DUALCOPTER: case MIXER_DUALCOPTER:
case MIXER_SINGLECOPTER: case MIXER_SINGLECOPTER:
case MIXER_GIMBAL: case MIXER_GIMBAL:
servoMixer(); servoMixer();
break; break;
/* /*
case MIXER_GIMBAL: case MIXER_GIMBAL:
servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH); servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL); servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
break; break;
*/ */
default: default:
break; break;
} }
// camera stabilization // camera stabilization