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Code Issues Wiki Activity

Cleanup CLI

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* optimize for code size.
* consolidate error message handling.
* replace similar error messages with identical ones.
* shorten all strings where possible.
* made less verbose.

This was required for the CC3D OPBL build.
This commit is contained in:
Dominic Clifton 2015-06-29 03:15:33 +01:00
parent 9389239207
commit b5e18a90a2
5 changed files with 211 additions and 159 deletions
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9
src/main/flight/mixer.c
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@ -391,10 +391,11 @@ int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
return servoConf[servoIndex].middle;
}
// FIXME rename 'fromChannel' to inputSource
int servoDirection(int servoIndex, int fromChannel)
{
// determine the direction (reversed or not) from the direction bitfield of the servo
if (servoConf[servoIndex].reversedChannels & (1 << fromChannel))
if (servoConf[servoIndex].reversedSources & (1 << fromChannel))
return -1;
else
return 1;
@ -700,7 +701,7 @@ void StopPwmAllMotors()
#ifndef USE_QUAD_MIXER_ONLY
static void servoMixer(void)
{
int16_t input[INPUT_ITEM_COUNT];
int16_t input[INPUT_SOURCE_COUNT];
static int16_t currentOutput[MAX_SERVO_RULES];
uint8_t i;
@ -749,7 +750,7 @@ static void servoMixer(void)
// consider rule if no box assigned or box is active
if (currentServoMixer[i].box == 0 || IS_RC_MODE_ACTIVE(BOXSERVO1 + currentServoMixer[i].box - 1)) {
uint8_t target = currentServoMixer[i].targetChannel;
uint8_t from = currentServoMixer[i].fromChannel;
uint8_t from = currentServoMixer[i].fromChannel; // FIXME rename 'from' to inputSource
uint16_t servo_width = servoConf[target].max - servoConf[target].min;
int16_t min = currentServoMixer[i].min * servo_width / 100 - servo_width / 2;
int16_t max = currentServoMixer[i].max * servo_width / 100 - servo_width / 2;
@ -763,8 +764,6 @@ static void servoMixer(void)
currentOutput[i] = constrain(currentOutput[i] - currentServoMixer[i].speed, input[from], currentOutput[i]);
}
// FIXME if the 'from' really only works for 0 to 8 currently. e.g. See INPUT_ROLL and INPUT_RC_ROLL. (0 vs 8, the intention is likely to use 0 in both cases)
// Really, there should be a translation from INPUT_* to 'fromChannel' and servoDirection() should only be used if needed.
servo[target] += servoDirection(target, from) * constrain(((int32_t)currentOutput[i] * currentServoMixer[i].rate) / 100, min, max);
} else {
currentOutput[i] = 0;