Corrected missed USE_ACC logic and some minor cleanup (#14093)

src/main/common/maths.h

@@ -46,14 +46,20 @@
 #define CM_S_TO_KM_H(centimetersPerSecond) ((centimetersPerSecond) * 36 / 1000)
 #define CM_S_TO_MPH(centimetersPerSecond) ((centimetersPerSecond) * 10000 / 5080 / 88)
 
+#ifndef MIN
 #define MIN(a,b) \
   __extension__ ({ __typeof__ (a) _a = (a); \
   __typeof__ (b) _b = (b); \
   _a < _b ? _a : _b; })
+#endif
+
+#ifndef MAX
 #define MAX(a,b) \
   __extension__ ({ __typeof__ (a) _a = (a); \
   __typeof__ (b) _b = (b); \
   _a > _b ? _a : _b; })
+#endif
+
 #define ABS(x) \
   __extension__ ({ __typeof__ (x) _x = (x); \
   _x > 0 ? _x : -_x; })

src/main/flight/pid.c

@@ -1328,7 +1328,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 
         float pidSetpointDelta = 0;
 
-#ifdef USE_FEEDFORWARD
+#if defined(USE_FEEDFORWARD) && defined(USE_ACC)
         if (FLIGHT_MODE(ANGLE_MODE) && pidRuntime.axisInAngleMode[axis]) {
             // this axis is fully under self-levelling control
             // it will already have stick based feedforward applied in the input to their angle setpoint

src/main/flight/pid_init.c

@@ -397,8 +397,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     }
     pidRuntime.angleGain = pidProfile->pid[PID_LEVEL].P / 10.0f;
     pidRuntime.angleFeedforwardGain = pidProfile->pid[PID_LEVEL].F / 100.0f;
+#ifdef USE_ACC
     pidRuntime.angleEarthRef = pidProfile->angle_earth_ref / 100.0f;
-
+#endif
     pidRuntime.horizonGain = MIN(pidProfile->pid[PID_LEVEL].I / 100.0f, 1.0f);
     pidRuntime.horizonIgnoreSticks = (pidProfile->horizon_ignore_sticks) ? 1.0f : 0.0f;
 
@@ -406,7 +407,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     pidRuntime.horizonLimitSticksInv = (pidProfile->pid[PID_LEVEL].D) ? 1.0f / pidRuntime.horizonLimitSticks : 1.0f;
     pidRuntime.horizonLimitDegrees = (float)pidProfile->horizon_limit_degrees;
     pidRuntime.horizonLimitDegreesInv = (pidProfile->horizon_limit_degrees) ? 1.0f / pidRuntime.horizonLimitDegrees : 1.0f;
+#ifdef USE_ACC
     pidRuntime.horizonDelayMs = pidProfile->horizon_delay_ms;
+#endif
 
     pidRuntime.maxVelocity[FD_ROLL] = pidRuntime.maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * pidRuntime.dT;
     pidRuntime.maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * pidRuntime.dT;

src/main/rx/cc2500_frsky_x.c

@@ -34,7 +34,6 @@
 
 #include "drivers/adc.h"
 #include "drivers/io.h"
-#include "drivers/io_def.h"
 #include "drivers/io_types.h"
 #include "drivers/resource.h"
 #include "drivers/rx/rx_cc2500.h"

src/main/rx/cc2500_redpine.c

@@ -34,7 +34,6 @@
 #include "config/feature.h"
 #include "drivers/adc.h"
 #include "drivers/io.h"
-#include "drivers/io_def.h"
 #include "drivers/io_types.h"
 #include "drivers/resource.h"
 #include "drivers/rx/rx_cc2500.h"

src/main/rx/rc_stats.c

@@ -83,7 +83,7 @@ timeUs_t RcStatsGetFullThrottleTimeUs(void)
 
 int8_t RcStatsGetAverageThrottle(void)
 {
-    return (float)totalTrottleNumber/(float)counter + 0.5; // rounding
+    return (float)totalTrottleNumber/(float)counter + 0.5f; // rounding
 }
 
 void NotifyRcStatsArming(void)

src/platform/SIMULATOR/sitl.c

@@ -445,6 +445,7 @@ uint32_t clockMicrosToCycles(uint32_t micros)
 {
     return micros;
 }
+
 uint32_t getCycleCounter(void)
 {
     return (uint32_t) (micros64() & 0xFFFFFFFF);