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Merge pull request #11097 from mathiasvr/stdlib-abs

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Use std abs() instead of ABS() macro
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haslinghuis 2022-10-14 00:37:29 +02:00 • committed by GitHub
commit b84b8c1ca5
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18 changed files with 43 additions and 30 deletions
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7
src/main/flight/pid.c
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@ -20,6 +20,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
@ -382,7 +383,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float calcHorizonLevelStrength()
float horizonLevelStrength = 1.0f - MAX(fabsf(getLevelModeRcDeflection(FD_ROLL)), fabsf(getLevelModeRcDeflection(FD_PITCH)));
// 0 at level, 90 at vertical, 180 at inverted (degrees):
const float currentInclination = MAX(ABS(attitude.values.roll), ABS(attitude.values.pitch)) / 10.0f;
const float currentInclination = MAX(abs(attitude.values.roll), abs(attitude.values.pitch)) / 10.0f;
// horizonTiltExpertMode: 0 = leveling always active when sticks centered,
// 1 = leveling can be totally off when inverted
@ -489,8 +490,8 @@ static void handleCrashRecovery(
&& fabsf(gyro.gyroADCf[FD_YAW]) < pidRuntime.crashRecoveryRate)) {
if (sensors(SENSOR_ACC)) {
// check aircraft nearly level
if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < pidRuntime.crashRecoveryAngleDeciDegrees
&& ABS(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < pidRuntime.crashRecoveryAngleDeciDegrees) {
if (abs(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < pidRuntime.crashRecoveryAngleDeciDegrees
&& abs(attitude.raw[FD_PITCH] - angleTrim->raw[FD_PITCH]) < pidRuntime.crashRecoveryAngleDeciDegrees) {
pidRuntime.inCrashRecoveryMode = false;
BEEP_OFF;
}