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Tidy rc_controls.c

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This commit is contained in:
Martin Budden 2017-10-09 22:13:59 +01:00
parent e760f73edc
commit 8efdd3bc57
1 changed files with 18 additions and 16 deletions
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34
src/main/fc/rc_controls.c
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@ -135,8 +135,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
// an extra guard for disarming through switch to prevent that one frame can disarm it // an extra guard for disarming through switch to prevent that one frame can disarm it
static uint8_t rcDisarmTicks; static uint8_t rcDisarmTicks;
static bool doNotRepeat; static bool doNotRepeat;
uint8_t stTmp = 0;
int i;
#ifdef CMS #ifdef CMS
if (cmsInMenu) { if (cmsInMenu) {
@ -145,16 +143,20 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
#endif #endif
// checking sticks positions // checking sticks positions
for (i = 0; i < 4; i++) { uint8_t stTmp = 0;
for (int i = 0; i < 4; i++) {
stTmp >>= 2; stTmp >>= 2;
if (rcData[i] > rxConfig()->mincheck) if (rcData[i] > rxConfig()->mincheck) {
stTmp |= 0x80; // check for MIN stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig()->maxcheck) }
if (rcData[i] < rxConfig()->maxcheck) {
stTmp |= 0x40; // check for MAX stTmp |= 0x40; // check for MAX
}
} }
if (stTmp == rcSticks) { if (stTmp == rcSticks) {
if (rcDelayMs <= INT16_MAX - (getTaskDeltaTime(TASK_SELF) / 1000)) if (rcDelayMs <= INT16_MAX - (getTaskDeltaTime(TASK_SELF) / 1000)) {
rcDelayMs += getTaskDeltaTime(TASK_SELF) / 1000; rcDelayMs += getTaskDeltaTime(TASK_SELF) / 1000;
}
} else { } else {
rcDelayMs = 0; rcDelayMs = 0;
doNotRepeat = false; doNotRepeat = false;
@ -238,15 +240,16 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
} }
// Multiple configuration profiles // Multiple configuration profiles
i = 0; int newPidProfile = 0;
if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1 if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> Profile 1
i = 1; newPidProfile = 1;
else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2 } else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> Profile 2
i = 2; newPidProfile = 2;
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3 } else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> Profile 3
i = 3; newPidProfile = 3;
if (i) { }
changePidProfile(i - 1); if (newPidProfile) {
changePidProfile(newPidProfile - 1);
return; return;
} }
@ -269,7 +272,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
// Accelerometer Trim // Accelerometer Trim
rollAndPitchTrims_t accelerometerTrimsDelta; rollAndPitchTrims_t accelerometerTrimsDelta;
memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta)); memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));