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Move mw loop() code into separate methods. Cleanup related code.

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If a given feature or mode is off the next task is not processed in the
current loop but will be processed during the next loop iteration for
simplification, this allowed the cleanup of return values in other code.
This commit is contained in:
Dominic Clifton 2014-06-23 00:47:45 +01:00
parent 8d0509dbfb
commit 91bfdf05ca
7 changed files with 256 additions and 210 deletions
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src/main/flight/imu.h
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@ -30,7 +30,7 @@ typedef struct imuRuntimeConfig_s {
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband);
int getEstimatedAltitude(void);
void calculateEstimatedAltitude(uint32_t currentTime);
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration);
void calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);