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Delete unnecessary code to reduce code size and improve maintainability by moving errorAngle initialisation to the conditional block where it is used.

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This commit is contained in:
Dominic Clifton 2014-05-21 05:51:06 +01:00
parent 420ba7d2c9
commit 56c2539e01
1 changed files with 5 additions and 6 deletions
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11
src/flight_common.c
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@ -117,7 +117,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim) rollAndPitchTrims_t *angleTrim)
{ {
int32_t errorAngle = 0; int32_t errorAngle;
int axis; int axis;
int32_t delta, deltaSum; int32_t delta, deltaSum;
static int32_t delta1[3], delta2[3]; static int32_t delta1[3], delta2[3];
@ -128,14 +128,13 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// ----------PID controller---------- // ----------PID controller----------
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode // -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_PITCH || axis == FD_ROLL)) { // MODE relying on ACC
// 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
}
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand) if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5); AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);
} else { } 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
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4; AngleRateTmp = ((int32_t)(controlRateConfig->rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) { if (f.HORIZON_MODE) {