Tidy of mixer and servo code

src/main/flight/mixer.c

@@ -25,8 +25,8 @@
 #include "build/build_config.h"
 
 #include "common/axis.h"
-#include "common/maths.h"
 #include "common/filter.h"
+#include "common/maths.h"
 
 #include "config/feature.h"
 #include "config/parameter_group.h"
@@ -38,18 +38,19 @@
 
 #include "io/motors.h"
 
+#include "fc/config.h"
+#include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
+
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
 #include "rx/rx.h"
 
 #include "sensors/battery.h"
 
-#include "flight/mixer.h"
-#include "flight/failsafe.h"
-#include "flight/pid.h"
-#include "flight/imu.h"
-
-#include "fc/config.h"
-#include "fc/rc_controls.h"
-#include "fc/runtime_config.h"
 
 PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
 

src/main/flight/servos.c

@@ -29,27 +29,27 @@
 #include "common/filter.h"
 #include "common/maths.h"
 
+#include "config/config_reset.h"
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "config/config_reset.h"
 
 #include "drivers/pwm_output.h"
 #include "drivers/system.h"
 
-#include "rx/rx.h"
+#include "fc/config.h"
-
+#include "fc/rc_controls.h"
-#include "io/gimbal.h"
+#include "fc/runtime_config.h"
 
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
-#include "fc/config.h"
+#include "io/gimbal.h"
-#include "fc/rc_controls.h"
+
-#include "fc/runtime_config.h"
+#include "rx/rx.h"
 
-#include "config/feature.h"
 
 extern mixerMode_e currentMixerMode;
 
@@ -92,9 +92,10 @@ void pgResetFn_servoParams(servoParam_t *instance)
 // no template required since default is zero
 PG_REGISTER(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 0);
 
+int16_t servo[MAX_SUPPORTED_SERVOS];
+
 static uint8_t servoRuleCount = 0;
 static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
-int16_t servo[MAX_SUPPORTED_SERVOS];
 static int useServo;
 
 
@@ -103,17 +104,17 @@ static int useServo;
 static const servoMixer_t servoMixerAirplane[] = {
     { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL,  100, 0, 0, 100, 0 },
     { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL,  100, 0, 0, 100, 0 },
-    { SERVO_RUDDER, INPUT_STABILIZED_YAW,   100, 0, 0, 100, 0 },
+    { SERVO_RUDDER,      INPUT_STABILIZED_YAW,   100, 0, 0, 100, 0 },
-    { SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
+    { SERVO_ELEVATOR,    INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
-    { SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
+    { SERVO_THROTTLE,    INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
 };
 
 static const servoMixer_t servoMixerFlyingWing[] = {
     { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL,  100, 0, 0, 100, 0 },
     { SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
-    { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL,  -100, 0, 0, 100, 0 },
+    { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, -100, 0, 0, 100, 0 },
     { SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
-    { SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
+    { SERVO_THROTTLE,    INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
 };
 
 static const servoMixer_t servoMixerBI[] = {
@@ -226,7 +227,7 @@ void loadCustomServoMixer(void)
     memset(currentServoMixer, 0, sizeof(currentServoMixer));
 
     // load custom mixer into currentServoMixer
-    for (uint8_t i = 0; i < MAX_SERVO_RULES; i++) {
+    for (int i = 0; i < MAX_SERVO_RULES; i++) {
         // check if done
         if (customServoMixers(i)->rate == 0)
             break;
@@ -368,7 +369,6 @@ STATIC_UNIT_TESTED void servoMixer(void)
 {
     int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
     static int16_t currentOutput[MAX_SERVO_RULES];
-    uint8_t i;
 
     if (FLIGHT_MODE(PASSTHRU_MODE)) {
         // Direct passthru from RX
@@ -407,8 +407,9 @@ STATIC_UNIT_TESTED void servoMixer(void)
     input[INPUT_RC_AUX3]     = rcData[AUX3]     - rxConfig()->midrc;
     input[INPUT_RC_AUX4]     = rcData[AUX4]     - rxConfig()->midrc;
 
-    for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servo[i] = 0;
+    }
 
     // mix servos according to rules
     for (i = 0; i < servoRuleCount; i++) {

src/main/sensors/acceleration.c

@@ -27,9 +27,10 @@
 #include "common/axis.h"
 #include "common/filter.h"
 
+#include "config/config_reset.h"
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "config/config_reset.h"
 
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_adxl345.h"
@@ -61,8 +62,6 @@
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 
-#include "config/feature.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif

src/main/sensors/gyro.h

@@ -17,9 +17,8 @@
 
 #pragma once
 
-#include "config/parameter_group.h"
 #include "common/axis.h"
-#include "drivers/io_types.h"
+#include "config/parameter_group.h"
 #include "drivers/sensor.h"
 
 typedef enum {