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Cleanup line endings.

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This commit is contained in:
Dominic Clifton 2014-07-31 23:53:34 +01:00
parent 2238f535be
commit 9f1a0fcb4c
47 changed files with 6212 additions and 6191 deletions
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4
src/main/flight/flight.c
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@ -117,7 +117,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
// it's the ANGLE mode - control is angle based, so control loop is needed
AngleRate = errorAngle * pidProfile->A_level;
} else {
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
//control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRate to add a little auto-level feel
@ -189,7 +189,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (shouldAutotune()) {
errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
}
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);