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https://github.com/betaflight/betaflight.git
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Minor whitespace tidy
This commit is contained in:
Martin Budden
parent
9653249716
commit
555475ec95
3 changed files with 138 additions and 138 deletions
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@ -89,22 +89,22 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
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float b0 = 0, b1 = 0, b2 = 0, a0 = 0, a1 = 0, a2 = 0;
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switch (filterType) {
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case FILTER_LPF:
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b0 = (1 - cs) / 2;
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b1 = 1 - cs;
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b2 = (1 - cs) / 2;
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a0 = 1 + alpha;
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a1 = -2 * cs;
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a2 = 1 - alpha;
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break;
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case FILTER_NOTCH:
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b0 = 1;
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b1 = -2 * cs;
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b2 = 1;
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a0 = 1 + alpha;
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a1 = -2 * cs;
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a2 = 1 - alpha;
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break;
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case FILTER_LPF:
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b0 = (1 - cs) / 2;
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b1 = 1 - cs;
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b2 = (1 - cs) / 2;
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a0 = 1 + alpha;
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a1 = -2 * cs;
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a2 = 1 - alpha;
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break;
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case FILTER_NOTCH:
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b0 = 1;
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b1 = -2 * cs;
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b2 = 1;
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a0 = 1 + alpha;
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a1 = -2 * cs;
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a2 = 1 - alpha;
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break;
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}
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// precompute the coefficients
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132
src/main/fc/mw.c
132
src/main/fc/mw.c
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@ -212,16 +212,16 @@ void processRcCommand(void)
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if (isRXDataNew) {
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// Set RC refresh rate for sampling and channels to filter
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switch (rxConfig()->rcInterpolation) {
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case(RC_SMOOTHING_AUTO):
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rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
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break;
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case(RC_SMOOTHING_MANUAL):
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rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
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break;
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case(RC_SMOOTHING_OFF):
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case(RC_SMOOTHING_DEFAULT):
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default:
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rxRefreshRate = rxGetRefreshRate();
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case(RC_SMOOTHING_AUTO):
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rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
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break;
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case(RC_SMOOTHING_MANUAL):
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rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
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break;
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case(RC_SMOOTHING_OFF):
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case(RC_SMOOTHING_DEFAULT):
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default:
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rxRefreshRate = rxGetRefreshRate();
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}
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rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
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@ -696,71 +696,71 @@ void subTaskMainSubprocesses(void)
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gyro.dev.temperature(&telemTemperature1);
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}
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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updateMagHold();
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}
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#endif
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#ifdef GTUNE
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updateGtuneState();
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#endif
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#if defined(BARO) || defined(SONAR)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
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if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
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applyAltHold(&masterConfig.airplaneConfig);
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}
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}
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#endif
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// If we're armed, at minimum throttle, and we do arming via the
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// sticks, do not process yaw input from the rx. We do this so the
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// motors do not spin up while we are trying to arm or disarm.
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// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
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if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
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#ifndef USE_QUAD_MIXER_ONLY
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#ifdef USE_SERVOS
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&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
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#endif
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&& mixerConfig()->mixerMode != MIXER_AIRPLANE
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&& mixerConfig()->mixerMode != MIXER_FLYING_WING
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#endif
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) {
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rcCommand[YAW] = 0;
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setpointRate[YAW] = 0;
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#ifdef MAG
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if (sensors(SENSOR_MAG)) {
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updateMagHold();
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}
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#endif
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if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
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rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
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}
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#ifdef GTUNE
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updateGtuneState();
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#endif
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processRcCommand();
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#ifdef GPS
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if (sensors(SENSOR_GPS)) {
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if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
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updateGpsStateForHomeAndHoldMode();
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#if defined(BARO) || defined(SONAR)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
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if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
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applyAltHold(&masterConfig.airplaneConfig);
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}
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}
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#endif
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#endif
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#ifdef USE_SDCARD
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afatfs_poll();
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#endif
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// If we're armed, at minimum throttle, and we do arming via the
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// sticks, do not process yaw input from the rx. We do this so the
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// motors do not spin up while we are trying to arm or disarm.
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// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
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if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
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#ifndef USE_QUAD_MIXER_ONLY
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#ifdef USE_SERVOS
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&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
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#endif
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&& mixerConfig()->mixerMode != MIXER_AIRPLANE
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&& mixerConfig()->mixerMode != MIXER_FLYING_WING
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#endif
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) {
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rcCommand[YAW] = 0;
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setpointRate[YAW] = 0;
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}
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#ifdef BLACKBOX
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if (!cliMode && feature(FEATURE_BLACKBOX)) {
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handleBlackbox(startTime);
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if (throttleCorrectionConfig()->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
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rcCommand[THROTTLE] += calculateThrottleAngleCorrection(throttleCorrectionConfig()->throttle_correction_value);
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}
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processRcCommand();
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#ifdef GPS
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if (sensors(SENSOR_GPS)) {
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if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
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updateGpsStateForHomeAndHoldMode();
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}
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#endif
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}
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#endif
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#ifdef TRANSPONDER
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transponderUpdate(startTime);
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#endif
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DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
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#ifdef USE_SDCARD
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afatfs_poll();
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#endif
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#ifdef BLACKBOX
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if (!cliMode && feature(FEATURE_BLACKBOX)) {
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handleBlackbox(startTime);
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}
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#endif
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#ifdef TRANSPONDER
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transponderUpdate(startTime);
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#endif
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DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
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}
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void subTaskMotorUpdate(void)
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@ -269,50 +269,50 @@ void writeServos(void)
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uint8_t servoIndex = 0;
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switch (currentMixerMode) {
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case MIXER_BICOPTER:
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pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
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pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
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break;
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case MIXER_BICOPTER:
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pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
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pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
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break;
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case MIXER_TRI:
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case MIXER_CUSTOM_TRI:
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if (servoMixerConfig->tri_unarmed_servo) {
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// if unarmed flag set, we always move servo
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case MIXER_TRI:
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case MIXER_CUSTOM_TRI:
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if (servoMixerConfig->tri_unarmed_servo) {
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// if unarmed flag set, we always move servo
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pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
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} else {
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// otherwise, only move servo when copter is armed
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if (ARMING_FLAG(ARMED))
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pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
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} else {
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// otherwise, only move servo when copter is armed
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if (ARMING_FLAG(ARMED))
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pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
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else
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pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
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}
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break;
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else
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pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
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}
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break;
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case MIXER_FLYING_WING:
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pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
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pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
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break;
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case MIXER_FLYING_WING:
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pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
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pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
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break;
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case MIXER_DUALCOPTER:
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pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
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pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
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break;
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case MIXER_DUALCOPTER:
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pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
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pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
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break;
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case MIXER_CUSTOM_AIRPLANE:
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case MIXER_AIRPLANE:
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for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
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pwmWriteServo(servoIndex++, servo[i]);
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}
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break;
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case MIXER_CUSTOM_AIRPLANE:
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case MIXER_AIRPLANE:
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for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
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pwmWriteServo(servoIndex++, servo[i]);
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}
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break;
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case MIXER_SINGLECOPTER:
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for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
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pwmWriteServo(servoIndex++, servo[i]);
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}
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break;
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case MIXER_SINGLECOPTER:
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for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
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pwmWriteServo(servoIndex++, servo[i]);
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}
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break;
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default:
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break;
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default:
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break;
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}
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// Two servos for SERVO_TILT, if enabled
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@ -410,27 +410,27 @@ void servoTable(void)
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{
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// airplane / servo mixes
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switch (currentMixerMode) {
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case MIXER_CUSTOM_AIRPLANE:
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case MIXER_FLYING_WING:
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case MIXER_AIRPLANE:
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case MIXER_BICOPTER:
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case MIXER_CUSTOM_TRI:
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case MIXER_TRI:
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case MIXER_DUALCOPTER:
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case MIXER_SINGLECOPTER:
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case MIXER_GIMBAL:
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servoMixer();
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break;
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case MIXER_CUSTOM_AIRPLANE:
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case MIXER_FLYING_WING:
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case MIXER_AIRPLANE:
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case MIXER_BICOPTER:
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case MIXER_CUSTOM_TRI:
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case MIXER_TRI:
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case MIXER_DUALCOPTER:
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case MIXER_SINGLECOPTER:
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case MIXER_GIMBAL:
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servoMixer();
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break;
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/*
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case MIXER_GIMBAL:
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servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
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servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
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break;
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*/
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/*
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case MIXER_GIMBAL:
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servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
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servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
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break;
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*/
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default:
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break;
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default:
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break;
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}
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// camera stabilization
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