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Renamed min, max and abs macros to MIN MAX and ABS.

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This commit is contained in:
Pierre Hugo 2015-01-23 22:40:00 -08:00
parent 616c40a827
commit be03ed95fa
15 changed files with 42 additions and 42 deletions
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10
src/main/flight/flight.c
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@ -117,11 +117,11 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
if(abs(stickPosAil) > abs(stickPosEle)){
mostDeflectedPos = abs(stickPosAil);
if(ABS(stickPosAil) > ABS(stickPosEle)){
mostDeflectedPos = ABS(stickPosAil);
}
else {
mostDeflectedPos = abs(stickPosEle);
mostDeflectedPos = ABS(stickPosEle);
}
// Progressively turn off the horizon self level strength as the stick is banged over
@ -220,7 +220,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
UNUSED(controlRateConfig);
// **** PITCH & ROLL & YAW PID ****
prop = min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500]
prop = MIN(MAX(ABS(rcCommand[PITCH]), ABS(rcCommand[ROLL])), 500); // range [0;500]
for (axis = 0; axis < 3; axis++) {
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
@ -252,7 +252,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
PTermGYRO = rcCommand[axis];
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if ((abs(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && abs(rcCommand[axis]) > 100))
if ((ABS(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;