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Merge pull request #5002 from martinbudden/bfa_rc_controls

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Minor ROM size optimisation of rc_controls
This commit is contained in:
Michael Keller 2018-01-21 09:37:48 +13:00 • committed by GitHub
commit 7ea96773f5
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1 changed files with 21 additions and 14 deletions
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35
src/main/fc/rc_controls.c
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@ -243,16 +243,18 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
// Change PID profile
int newPidProfile = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> PID profile 1
newPidProfile = 1;
} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> PID profile 2
newPidProfile = 2;
} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> PID profile 3
newPidProfile = 3;
}
if (newPidProfile) {
changePidProfile(newPidProfile - 1);
switch (rcSticks) {
case THR_LO + YAW_LO + PIT_CE + ROL_LO:
// ROLL left -> PID profile 1
changePidProfile(0);
return;
case THR_LO + YAW_LO + PIT_HI + ROL_CE:
// PITCH up -> PID profile 2
changePidProfile(1);
return;
case THR_LO + YAW_LO + PIT_CE + ROL_HI:
// ROLL right -> PID profile 3
changePidProfile(2);
return;
}
@ -280,18 +282,23 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
bool shouldApplyRollAndPitchTrimDelta = false;
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
switch (rcSticks) {
case THR_HI + YAW_CE + PIT_HI + ROL_CE:
accelerometerTrimsDelta.values.pitch = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
break;
case THR_HI + YAW_CE + PIT_LO + ROL_CE:
accelerometerTrimsDelta.values.pitch = -2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
break;
case THR_HI + YAW_CE + PIT_CE + ROL_HI:
accelerometerTrimsDelta.values.roll = 2;
shouldApplyRollAndPitchTrimDelta = true;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
break;
case THR_HI + YAW_CE + PIT_CE + ROL_LO:
accelerometerTrimsDelta.values.roll = -2;
shouldApplyRollAndPitchTrimDelta = true;
break;
}
if (shouldApplyRollAndPitchTrimDelta) {
applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);