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whitespace and formatting cleanups from latest commit

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This commit is contained in:
dongie 2013-11-03 12:21:22 +09:00
parent 7c723cb184
commit c14e7cf59f
2 changed files with 14 additions and 18 deletions
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4
src/config.c
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@ -246,7 +246,7 @@ static void resetConf(void)
cfg.P8[PIDVEL] = 0; cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0; cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0; cfg.D8[PIDVEL] = 0;
cfg.P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully cfg.P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
cfg.I_f[ROLL] = 0.3f; cfg.I_f[ROLL] = 0.3f;
cfg.D_f[ROLL] = 0.06f; cfg.D_f[ROLL] = 0.06f;
@ -258,7 +258,7 @@ static void resetConf(void)
cfg.D_f[YAW] = 0.05f; cfg.D_f[YAW] = 0.05f;
cfg.A_level = 5.0f; cfg.A_level = 5.0f;
cfg.H_level = 3.0f; cfg.H_level = 3.0f;
cfg.rcRate8 = 90; cfg.rcRate8 = 90;
cfg.rcExpo8 = 65; cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0; cfg.rollPitchRate = 0;

28
src/serial.c
View file

@ -259,7 +259,7 @@ void serialInit(uint32_t baudrate)
availableBoxes[idx++] = BOXGPSHOME; availableBoxes[idx++] = BOXGPSHOME;
availableBoxes[idx++] = BOXGPSHOLD; availableBoxes[idx++] = BOXGPSHOLD;
} }
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
availableBoxes[idx++] = BOXPASSTHRU; availableBoxes[idx++] = BOXPASSTHRU;
availableBoxes[idx++] = BOXBEEPERON; availableBoxes[idx++] = BOXBEEPERON;
if (feature(FEATURE_INFLIGHT_ACC_CAL)) if (feature(FEATURE_INFLIGHT_ACC_CAL))
@ -303,19 +303,17 @@ static void evaluateCommand(void)
cfg.D_f[i] = (float)read8() / 1000.0f; cfg.D_f[i] = (float)read8() / 1000.0f;
} }
for (i = 3; i < PIDITEMS; i++) { for (i = 3; i < PIDITEMS; i++) {
if(i == PIDLEVEL) { if (i == PIDLEVEL) {
cfg.A_level = (float)read8() / 10.0f; cfg.A_level = (float)read8() / 10.0f;
cfg.H_level = (float)read8() / 10.0f; cfg.H_level = (float)read8() / 10.0f;
read8(); read8();
} } else {
else {
cfg.P8[i] = read8(); cfg.P8[i] = read8();
cfg.I8[i] = read8(); cfg.I8[i] = read8();
cfg.D8[i] = read8(); cfg.D8[i] = read8();
} }
} }
} } else {
else {
for (i = 0; i < PIDITEMS; i++) { for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8(); cfg.P8[i] = read8();
cfg.I8[i] = read8(); cfg.I8[i] = read8();
@ -500,24 +498,22 @@ static void evaluateCommand(void)
headSerialReply(3 * PIDITEMS); headSerialReply(3 * PIDITEMS);
if (cfg.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid if (cfg.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(cfg.P_f[i] * 10.0f) ,0 ,250)); serialize8(constrain(lrintf(cfg.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(cfg.I_f[i] * 100.0f) ,0 ,250)); serialize8(constrain(lrintf(cfg.I_f[i] * 100.0f), 0, 250));
serialize8(constrain(lrintf(cfg.D_f[i] * 1000.0f) ,0 ,100)); serialize8(constrain(lrintf(cfg.D_f[i] * 1000.0f), 0, 100));
} }
for (i = 3; i < PIDITEMS; i++) { for (i = 3; i < PIDITEMS; i++) {
if (i == PIDLEVEL) { if (i == PIDLEVEL) {
serialize8(constrain(lrintf(cfg.A_level * 10.0f) ,0 ,250)); serialize8(constrain(lrintf(cfg.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(cfg.H_level * 10.0f) ,0 ,250)); serialize8(constrain(lrintf(cfg.H_level * 10.0f), 0, 250));
serialize8(0); serialize8(0);
} } else {
else {
serialize8(cfg.P8[i]); serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]); serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]); serialize8(cfg.D8[i]);
} }
} }
} } else {
else {
for (i = 0; i < PIDITEMS; i++) { for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]); serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]); serialize8(cfg.I8[i]);