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Mixer code readability and code size improvement.

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Naze target size before: 113412, after: 113388

Closes #551
This commit is contained in:
Dominic Clifton 2015-02-26 12:05:03 +00:00
parent b9e1283809
commit 8282bc76d2
1 changed files with 35 additions and 22 deletions
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57
src/main/flight/mixer.c
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@ -26,6 +26,7 @@
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
@ -544,7 +545,6 @@ static void airplaneMixer(void)
void mixTable(void)
{
int16_t maxMotor;
uint32_t i;
if (motorCount > 3) {
@ -662,29 +662,42 @@ void mixTable(void)
}
#endif
maxMotor = motor[0];
for (i = 1; i < motorCount; i++)
if (motor[i] > maxMotor)
maxMotor = motor[i];
for (i = 0; i < motorCount; i++) {
if (maxMotor > escAndServoConfig->maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > rxConfig->midrc) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
}
} else {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = escAndServoConfig->minthrottle;
else
motor[i] = escAndServoConfig->mincommand;
if (ARMING_FLAG(ARMED)) {
int16_t maxMotor;
maxMotor = 0;
for (i = 1; i < motorCount; i++) {
if (motor[i] > maxMotor) {
maxMotor = motor[i];
}
}
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {
if (maxMotor > escAndServoConfig->maxthrottle) {
// this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
}
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > rxConfig->midrc) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
}
} else {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = escAndServoConfig->minthrottle;
else
motor[i] = escAndServoConfig->mincommand;
}
}
}
} else {
for (i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}