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Reorder code to remove not operator and improve readability.

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This commit is contained in:
Dominic Clifton 2014-05-28 19:10:37 +01:00
parent d0ec7e25ce
commit bd3d853b61
1 changed files with 9 additions and 6 deletions
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15
src/flight_common.c
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@ -79,7 +79,8 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
// ----------PID controller----------
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
if (axis == FD_YAW) {
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
} else {
// calculate error and limit the angle to 50 degrees max inclination
@ -89,14 +90,16 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
}
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
if (f.ANGLE_MODE) {
// 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
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 AngleRateTmp to add a little auto-level feel
// mix up angle error to desired AngleRate to add a little auto-level feel
AngleRate += errorAngle * pidProfile->H_level;
}
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
AngleRate = errorAngle * pidProfile->A_level;
}
}
@ -151,7 +154,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// 50 degrees max inclination
// observe max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];