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some minor cleanups

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-05-19 21:32:01 +02:00
parent 7c37d7b287
commit 43c44c78dd
3 changed files with 6 additions and 9 deletions
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8
src/main/navigation/navigation.c
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@ -1972,6 +1972,9 @@ static bool adjustPositionFromRCInput(void)
}
else {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
/*
* Process states only for POSHOLD. In any other case we go back to old routines
*/
@ -1984,9 +1987,6 @@ static bool adjustPositionFromRCInput(void)
NAV_Status.state == MW_NAV_STATE_HOLD_INFINIT
)
) {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
/*
* Case one, when we order to brake (sticks to the center) and we are moving above threshold
* Speed is above 1m/s and sticks are centered
@ -2077,7 +2077,7 @@ static bool adjustPositionFromRCInput(void)
}
retValue = adjustMulticopterPositionFromRCInput();
retValue = adjustMulticopterPositionFromRCInput(rcPitchAdjustment, rcRollAdjustment);
}
return retValue;