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move code around to fix some gcc error that doesn't occur with real compilers

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dongie 2014-05-21 09:04:07 +09:00
parent f9760bd70e
commit b32cc09e12
1 changed files with 2 additions and 4 deletions
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6
src/mw.c
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@ -362,13 +362,11 @@ static void pidRewrite(void)
// ----------PID controller----------
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
}
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]) / 10.0f; // 16 bits is ok here
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t)(cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {