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Merge pull request #1647 from martinbudden/inav_blackbox_tidy

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Blackbox tidy
This commit is contained in:
Konstantin Sharlaimov 2017-05-14 00:40:51 +10:00 • committed by GitHub
commit cba9ae7011
1 changed files with 10 additions and 26 deletions
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36
src/main/blackbox/blackbox.c
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@ -1096,56 +1096,40 @@ static void writeGPSFrame(timeUs_t currentTimeUs)
static void loadMainState(timeUs_t currentTimeUs) static void loadMainState(timeUs_t currentTimeUs)
{ {
blackboxMainState_t *blackboxCurrent = blackboxHistory[0]; blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
int i;
blackboxCurrent->time = currentTimeUs; blackboxCurrent->time = currentTimeUs;
for (i = 0; i < XYZ_AXIS_COUNT; i++) { for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_Setpoint[i] = axisPID_Setpoint[i]; blackboxCurrent->axisPID_Setpoint[i] = axisPID_Setpoint[i];
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_P[i] = axisPID_P[i]; blackboxCurrent->axisPID_P[i] = axisPID_P[i];
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_I[i] = axisPID_I[i]; blackboxCurrent->axisPID_I[i] = axisPID_I[i];
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_D[i] = axisPID_D[i]; blackboxCurrent->axisPID_D[i] = axisPID_D[i];
}
for (i = 0; i < 4; i++) {
blackboxCurrent->rcCommand[i] = rcCommand[i];
}
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]); blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = acc.accADC[i];
#ifdef MAG
blackboxCurrent->magADC[i] = mag.magADC[i];
#endif
} }
for (i = 0; i < XYZ_AXIS_COUNT; i++) { for (int i = 0; i < 4; i++) {
blackboxCurrent->accADC[i] = acc.accADC[i]; blackboxCurrent->rcCommand[i] = rcCommand[i];
} }
blackboxCurrent->attitude[0] = attitude.values.roll; blackboxCurrent->attitude[0] = attitude.values.roll;
blackboxCurrent->attitude[1] = attitude.values.pitch; blackboxCurrent->attitude[1] = attitude.values.pitch;
blackboxCurrent->attitude[2] = attitude.values.yaw; blackboxCurrent->attitude[2] = attitude.values.yaw;
for (i = 0; i < 4; i++) { for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
blackboxCurrent->debug[i] = debug[i]; blackboxCurrent->debug[i] = debug[i];
} }
for (i = 0; i < motorCount; i++) { for (int i = 0; i < motorCount; i++) {
blackboxCurrent->motor[i] = motor[i]; blackboxCurrent->motor[i] = motor[i];
} }
blackboxCurrent->vbatLatest = vbatLatestADC; blackboxCurrent->vbatLatest = vbatLatestADC;
blackboxCurrent->amperageLatest = amperageLatestADC; blackboxCurrent->amperageLatest = amperageLatestADC;
#ifdef MAG
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->magADC[i] = mag.magADC[i];
}
#endif
#ifdef BARO #ifdef BARO
blackboxCurrent->BaroAlt = baro.BaroAlt; blackboxCurrent->BaroAlt = baro.BaroAlt;
#endif #endif
@ -1171,7 +1155,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->navFlags = navFlags; blackboxCurrent->navFlags = navFlags;
blackboxCurrent->navEPH = navEPH; blackboxCurrent->navEPH = navEPH;
blackboxCurrent->navEPV = navEPV; blackboxCurrent->navEPV = navEPV;
for (i = 0; i < XYZ_AXIS_COUNT; i++) { for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->navPos[i] = navLatestActualPosition[i]; blackboxCurrent->navPos[i] = navLatestActualPosition[i];
blackboxCurrent->navRealVel[i] = navActualVelocity[i]; blackboxCurrent->navRealVel[i] = navActualVelocity[i];
blackboxCurrent->navAccNEU[i] = navAccNEU[i]; blackboxCurrent->navAccNEU[i] = navAccNEU[i];