From 8714bd13f42595610c558d52243f8a244eaa2a00 Mon Sep 17 00:00:00 2001 From: blckmn Date: Fri, 21 Oct 2022 08:51:21 +1100 Subject: [PATCH] Fixes for SITL - adding to the standard list of targets --- make/targets_list.mk | 2 +- src/main/fc/init.c | 2 ++ src/main/flight/mixer.c | 4 ++-- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/make/targets_list.mk b/make/targets_list.mk index a2f1fc7bb6..88a4a16ba1 100644 --- a/make/targets_list.mk +++ b/make/targets_list.mk @@ -171,7 +171,7 @@ LEGACY_TARGETS := MATEKF405 \ # Temporarily excluded to get CI coverage for USE_SPI_TRANSACTION # STM32F4DISCOVERY \ -CI_TARGETS := $(UNIFIED_TARGETS) +CI_TARGETS := $(UNIFIED_TARGETS) SITL TARGETS_TOTAL := $(words $(CI_TARGETS)) TARGET_GROUPS := 3 diff --git a/src/main/fc/init.c b/src/main/fc/init.c index 419ac1eee1..bcd4dd77d7 100644 --- a/src/main/fc/init.c +++ b/src/main/fc/init.c @@ -767,7 +767,9 @@ void init(void) #ifdef USE_GPS if (featureIsEnabled(FEATURE_GPS)) { gpsInit(); +#ifdef USE_GPS_RESCUE gpsRescueInit(); +#endif } #endif diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 016dfbf11a..f2a6ea3497 100644 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -437,7 +437,7 @@ static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnable motorDeltaScale *= airmodeTransitionPercent; // this should be half of the motor authority allowed } - const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; + const float motorMixNormalizationFactor = motorMixRange > 1.0f ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; const float motorMixDelta = motorDeltaScale * motorMixRange; @@ -475,7 +475,7 @@ static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const airmodeTransitionPercent = scaleRangef(throttle, 0.0f, 0.5f, 0.5f, 1.0f); // 0.5 throttle is full transition, and 0.0 throttle is 50% airmodeTransitionPercent } - const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; + const float motorMixNormalizationFactor = motorMixRange > 1.0f ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent; for (int i = 0; i < mixerRuntime.motorCount; i++) { motorMix[i] *= motorMixNormalizationFactor;