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Code Issues Wiki Activity

Used PGs rather than parameters for processRcStickPositions

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This commit is contained in:
Martin Budden 2017-02-02 10:50:59 +00:00
parent f6c8319361
commit becdeb4c9b
3 changed files with 9 additions and 9 deletions
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12
src/main/fc/rc_controls.c
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@ -128,7 +128,7 @@ throttleStatus_e calculateThrottleStatus(void)
return THROTTLE_HIGH;
}
void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
void processRcStickPositions(throttleStatus_e throttleStatus)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -140,9 +140,9 @@ void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e thrott
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig->mincheck)
if (rcData[i] > rxConfig()->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig->maxcheck)
if (rcData[i] < rxConfig()->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
@ -169,7 +169,7 @@ void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e thrott
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
rcDisarmTicks++;
if (rcDisarmTicks > 3) {
if (disarm_kill_switch) {
if (armingConfig()->disarm_kill_switch) {
mwDisarm();
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
@ -681,9 +681,9 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, const rxConfig
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state