Code tidy

src/main/flight/mixer.c

@@ -17,10 +17,10 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
+
 #include "build/debug.h"
 
 #include "common/axis.h"
@@ -32,27 +32,22 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "drivers/time.h"
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
-
+#include "drivers/time.h"
-#include "navigation/navigation.h"
-
-#include "rx/rx.h"
-
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/gyro.h"
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "flight/mixer.h"
-#include "flight/servos.h"
 #include "flight/failsafe.h"
-#include "flight/pid.h"
 #include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/servos.h"
+
+#include "rx/rx.h"
+
 
 //#define MIXER_DEBUG
 
@@ -326,14 +321,12 @@ void mixerUpdateStateFlags(void)
 
 void mixerUsePWMIOConfiguration(void)
 {
-    int i;
-
     motorCount = 0;
 
     const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
-        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             // check if done
             if (customMotorMixer(i)->throttle == 0.0f)
                 break;
@@ -344,7 +337,7 @@ void mixerUsePWMIOConfiguration(void)
         motorCount = MIN(mixers[currentMixerMode].motorCount, pwmGetOutputConfiguration()->motorCount);
         // copy motor-based mixers
         if (mixers[currentMixerMode].motor) {
-            for (i = 0; i < motorCount; i++)
+            for (int i = 0; i < motorCount; i++)
                 currentMixer[i] = mixers[currentMixerMode].motor[i];
         }
     }
@@ -352,7 +345,7 @@ void mixerUsePWMIOConfiguration(void)
     // in 3D mode, mixer gain has to be halved
     if (feature(FEATURE_3D)) {
         if (motorCount > 1) {
-            for (i = 0; i < motorCount; i++) {
+            for (int i = 0; i < motorCount; i++) {
                 currentMixer[i].pitch *= 0.5f;
                 currentMixer[i].roll *= 0.5f;
                 currentMixer[i].yaw *= 0.5f;
@@ -366,8 +359,7 @@ void mixerUsePWMIOConfiguration(void)
 void mixerUsePWMIOConfiguration(void)
 {
     motorCount = 4;
-    int i;
+    for (int i = 0; i < motorCount; i++) {
-    for (i = 0; i < motorCount; i++) {
         currentMixer[i] = mixerQuadX[i];
     }
     mixerResetDisarmedMotors();
@@ -378,18 +370,18 @@ void mixerUsePWMIOConfiguration(void)
 #ifndef USE_QUAD_MIXER_ONLY
 void mixerLoadMix(int index, motorMixer_t *customMixers)
 {
-    int i;
-
     // we're 1-based
     index++;
     // clear existing
-    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
         customMixers[i].throttle = 0.0f;
+    }
 
     // do we have anything here to begin with?
     if (mixers[index].motor != NULL) {
-        for (i = 0; i < mixers[index].motorCount; i++)
+        for (int i = 0; i < mixers[index].motorCount; i++) {
             customMixers[i] = mixers[index].motor[i];
+        }
     }
 }
 
@@ -397,27 +389,25 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
 
 void mixerResetDisarmedMotors(void)
 {
-    int i;
     // set disarmed motor values
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
         motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
+    }
 }
 
 void writeMotors(void)
 {
-    int i;
+    for (int i = 0; i < motorCount; i++) {
-
-    for (i = 0; i < motorCount; i++)
         pwmWriteMotor(i, motor[i]);
+    }
 }
 
 void writeAllMotors(int16_t mc)
 {
-    int i;
-
     // Sends commands to all motors
-    for (i = 0; i < motorCount; i++)
+    for (int i = 0; i < motorCount; i++) {
         motor[i] = mc;
+    }
     writeMotors();
 }
 
@@ -436,8 +426,6 @@ void stopPwmAllMotors()
 void mixTable(void)
 {
     int16_t input[3];   // RPY, range [-500:+500]
-    int i;
-
     // Allow direct stick input to motors in passthrough mode on airplanes
     if (STATE(FIXED_WING) && FLIGHT_MODE(PASSTHRU_MODE)) {
         // Direct passthru from RX
@@ -462,7 +450,7 @@ void mixTable(void)
     int16_t rpyMixMin = 0;
 
     // motors for non-servo mixes
-    for (i = 0; i < motorCount; i++) {
+    for (int i = 0; i < motorCount; i++) {
         rpyMix[i] =
             input[PITCH] * currentMixer[i].pitch +
             input[ROLL] * currentMixer[i].roll +
@@ -509,7 +497,7 @@ void mixTable(void)
         motorLimitReached = true;
         float mixReduction = (float)throttleRange / rpyMixRange;
 
-        for (i = 0; i < motorCount; i++) {
+        for (int i = 0; i < motorCount; i++) {
             rpyMix[i] =  mixReduction  * rpyMix[i];
         }
 
@@ -525,7 +513,7 @@ void mixTable(void)
     // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
     // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
     if (ARMING_FLAG(ARMED)) {
-        for (i = 0; i < motorCount; i++) {
+        for (int i = 0; i < motorCount; i++) {
             motor[i] = rpyMix[i] + constrain(throttleCommand * currentMixer[i].throttle, throttleMin, throttleMax);
 
             if (failsafeIsActive()) {
@@ -556,7 +544,7 @@ void mixTable(void)
             }
         }
     } else {
-        for (i = 0; i < motorCount; i++) {
+        for (int i = 0; i < motorCount; i++) {
             motor[i] = motor_disarmed[i];
         }
     }

src/main/flight/servos.c

@@ -17,7 +17,6 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <stdlib.h>
 #include <string.h>
 
 #include "platform.h"
@@ -28,37 +27,31 @@
 #include "build/build_config.h"
 
 #include "common/axis.h"
-#include "common/maths.h"
 #include "common/filter.h"
+#include "common/maths.h"
 
-#include "config/feature.h"
 #include "config/config_reset.h"
+#include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
 #include "drivers/pwm_output.h"
-#include "drivers/pwm_mapping.h"
 #include "drivers/time.h"
 
-#include "io/gimbal.h"
-
-#include "navigation/navigation.h"
-
-#include "rx/rx.h"
-
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/gyro.h"
-
 #include "fc/config.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "flight/mixer.h"
-#include "flight/servos.h"
-#include "flight/failsafe.h"
-#include "flight/pid.h"
 #include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/servos.h"
+
+#include "io/gimbal.h"
+
+#include "rx/rx.h"
+
+#include "sensors/gyro.h"
 
 
 extern const mixer_t mixers[];
@@ -90,6 +83,9 @@ void pgResetFn_servoParams(servoParam_t *instance)
     }
 }
 
+// no template required since default is zero
+PG_REGISTER(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 0);
+
 int16_t servo[MAX_SUPPORTED_SERVOS];
 
 static uint8_t servoRuleCount = 0;
@@ -100,7 +96,7 @@ static uint8_t mixerUsesServos;
 static uint8_t minServoIndex;
 static uint8_t maxServoIndex;
 
-static biquadFilter_t servoFitlerState[MAX_SUPPORTED_SERVOS];
+static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
 static bool servoFilterIsSet;
 
 #define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
@@ -162,10 +158,8 @@ const mixerRules_t servoMixers[] = {
     { 0, SERVO_RUDDER, SERVO_RUDDER, NULL },                // MULTITYPE_CUSTOM_TRI
 };
 
-// no template required since default is zero
+int16_t getFlaperonDirection(uint8_t servoPin)
-PG_REGISTER(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 0);
+{
-
-int16_t getFlaperonDirection(uint8_t servoPin) {
     if (servoPin == SERVO_FLAPPERON_2) {
         return -1;
     } else {
@@ -286,9 +280,7 @@ STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
 {
     // start forwarding from this channel
     uint8_t channelOffset = AUX1;
-
+    for (int servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
-    int servoOffset;
-    for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
         pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
     }
 }
@@ -299,14 +291,14 @@ static void filterServos(void)
         // Initialize servo lowpass filter (servos are calculated at looptime rate)
         if (!servoFilterIsSet) {
             for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-                biquadFilterInitLPF(&servoFitlerState[i], servoConfig()->servo_lowpass_freq, gyro.targetLooptime);
+                biquadFilterInitLPF(&servoFilter[i], servoConfig()->servo_lowpass_freq, gyro.targetLooptime);
             }
             servoFilterIsSet = true;
         }
 
         for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             // Apply servo lowpass filter and do sanity cheching
-            servo[i] = (int16_t) biquadFilterApply(&servoFitlerState[i], (float)servo[i]);
+            servo[i] = (int16_t) biquadFilterApply(&servoFilter[i], (float)servo[i]);
         }
     }
 

src/main/sensors/acceleration.c

@@ -23,46 +23,47 @@
 #include "platform.h"
 
 #include "common/axis.h"
-#include "common/maths.h"
 #include "common/filter.h"
+#include "common/maths.h"
 
+#include "config/config_reset.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "config/config_reset.h"
 
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_adxl345.h"
 #include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_fake.h"
 #include "drivers/accgyro/accgyro_l3g4200d.h"
+#include "drivers/accgyro/accgyro_l3gd20.h"
+#include "drivers/accgyro/accgyro_lsm303dlhc.h"
 #include "drivers/accgyro/accgyro_mma845x.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_mpu3050.h"
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
-#include "drivers/accgyro/accgyro_l3gd20.h"
-#include "drivers/accgyro/accgyro_lsm303dlhc.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
 #include "drivers/logging.h"
 #include "drivers/sensor.h"
 
+#include "fc/config.h"
+#include "fc/runtime_config.h"
+
+#include "io/beeper.h"
+
 #include "sensors/acceleration.h"
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 
-#include "fc/config.h"
-#include "fc/runtime_config.h"
-
-#include "io/beeper.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
+
 acc_t acc;                       // acc access functions
 
 static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.

src/main/sensors/gyro.c

@@ -23,6 +23,7 @@
 #include "platform.h"
 
 #include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/axis.h"
 #include "common/maths.h"
@@ -62,8 +63,6 @@
 #include "sensors/gyro.h"
 #include "sensors/sensors.h"
 
-#include "build/debug.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif

src/main/sensors/gyro.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include "drivers/accgyro/accgyro.h"
 #include "common/axis.h"
 #include "config/parameter_group.h"
 #include "drivers/sensor.h"