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Merge remote-tracking branch 'multiwii/master'

Browse source 
Conflicts:
	src/cli.c
	src/config.c
	src/drv_system.c
	src/main.c
This commit is contained in:
Dominic Clifton 2013-12-15 16:13:45 +00:00
commit 874bf96447
32 changed files with 4505 additions and 3941 deletions
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48
src/drv_system.c
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@ -103,7 +103,6 @@ void systemInit(void)
systemBeepPtr = beepRev4;
BEEP_OFF;
#endif
LED0_OFF;
LED1_OFF;
@ -224,50 +223,3 @@ void systemBeep(bool onoff)
#endif
}
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
{
switch (rotation) {
case CW0_DEG:
dest[X] = src[X];
dest[Y] = src[Y];
dest[Z] = src[Z];
break;
case CW90_DEG:
dest[X] = src[Y];
dest[Y] = -src[X];
dest[Z] = src[Z];
break;
case CW180_DEG:
dest[X] = -src[X];
dest[Y] = -src[Y];
dest[Z] = src[Z];
break;
case CW270_DEG:
dest[X] = -src[Y];
dest[Y] = src[X];
dest[Z] = src[Z];
break;
case CW0_DEG_FLIP:
dest[X] = -src[X];
dest[Y] = src[Y];
dest[Z] = -src[Z];
break;
case CW90_DEG_FLIP:
dest[X] = src[Y];
dest[Y] = src[X];
dest[Z] = -src[Z];
break;
case CW180_DEG_FLIP:
dest[X] = src[X];
dest[Y] = -src[Y];
dest[Z] = -src[Z];
break;
case CW270_DEG_FLIP:
dest[X] = -src[Y];
dest[Y] = -src[X];
dest[Z] = -src[Z];
break;
default:
break;
}
}