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Code Issues Releases Activity

OP-1769 ground actuator

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code review comment addressed to reduce code size
This commit is contained in:
abeck70 2015-03-14 12:01:30 +11:00
parent 616cd466d2
commit 5e7a3c30e1
1 changed files with 1 additions and 21 deletions
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22
flight/modules/Actuator/actuator.c
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@ -560,27 +560,7 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
*/ */
static float MixerCurveFullRangeProportional(const float input, const float *curve, uint8_t elements) static float MixerCurveFullRangeProportional(const float input, const float *curve, uint8_t elements)
{ {
float abs_input = fabsf(input); float unsigned_value = MixerCurveFullRangeAbsolute(input, curve, elements);
float scale = abs_input * (float)(elements - 1);
int idx1 = scale;
scale -= (float)idx1; // remainder
if (curve[0] < -1) {
return input;
}
if (idx1 < 0) {
idx1 = 0; // clamp to lowest entry in table
scale = 0;
}
int idx2 = idx1 + 1;
if (idx2 >= elements) {
idx2 = elements - 1; // clamp to highest entry in table
if (idx1 >= elements) {
idx1 = elements - 1;
}
}
float unsigned_value = curve[idx1] * (1.0f - scale) + curve[idx2] * scale;
if (input < 0.0f) { if (input < 0.0f) {
return -unsigned_value; return -unsigned_value;
} else { } else {