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Code Issues Wiki Activity

AltHold cleanup.

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* Renamed several methods and variables so they make more sense.
* Move more altitude hold related code out of imu.c/h into
altitudehold.c/h.
* Fixed a unsigned integer being using instead of an signed integer in
the throttle calculation code.
This commit is contained in:
Dominic Clifton 2014-09-29 01:34:15 +01:00
parent 7d4abb8a4a
commit daa823ddba
8 changed files with 222 additions and 199 deletions
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12
src/main/common/maths.c
View file

@ -20,6 +20,18 @@
#include "maths.h"
int32_t applyDeadband(int32_t value, int32_t deadband)
{
if (abs(value) < deadband) {
value = 0;
} else if (value > 0) {
value -= deadband;
} else if (value < 0) {
value += deadband;
}
return value;
}
int constrain(int amt, int low, int high)
{
if (amt < low)