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Code Issues Releases Activity

Use enum to index array.

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Replace 0 with 0.0f in assignment.
This commit is contained in:
Erik Gustavsson 2012-11-28 20:52:13 +01:00 committed by Oleg Semyonov
parent 5e14f5352f
commit 4312652241
1 changed files with 10 additions and 10 deletions
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20
flight/Modules/Stabilization/stabilization.c
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@ -79,7 +79,7 @@ uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
bool lowThrottleZeroAxis[3];
bool lowThrottleZeroAxis[MAX_AXES];
float vbar_decay = 0.991f;
struct pid pids[PID_MAX];
@ -360,14 +360,14 @@ static void stabilizationTask(void* parameters)
// Suppress desired output while disarmed or throttle low, for configured axis
if (flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || stabDesired.Throttle < 0) {
if (lowThrottleZeroAxis[0])
actuatorDesired.Roll = 0;
if (lowThrottleZeroAxis[ROLL])
actuatorDesired.Roll = 0.0f;
if (lowThrottleZeroAxis[1])
actuatorDesired.Pitch = 0;
if (lowThrottleZeroAxis[PITCH])
actuatorDesired.Pitch = 0.0f;
if (lowThrottleZeroAxis[2])
actuatorDesired.Yaw = 0;
if (lowThrottleZeroAxis[YAW])
actuatorDesired.Yaw = 0.0f;
}
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
@ -475,9 +475,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
// Whether to suppress (zero) the StabilizationDesired output for each axis while disarmed or throttle is low
lowThrottleZeroAxis[0] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_ROLL] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[1] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_PITCH] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[2] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_YAW] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[ROLL] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_ROLL] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[PITCH] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_PITCH] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[YAW] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_YAW] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant