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Code Issues Releases Activity

OP-1259 small code beautification

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This commit is contained in:
Cliff Geerdes 2014-03-26 13:35:04 -04:00
parent eaa58fd1dc
commit d38360b665
1 changed files with 7 additions and 4 deletions
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11
flight/modules/Stabilization/stabilization.c
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@ -432,7 +432,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f #define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f
// the following assumes the transition would otherwise be at 0.618033989f // the following assumes the transition would otherwise be at 0.618033989f
// and that assumes that Att ramps up to max roll rate // and THAT assumes that Att ramps up to max roll rate
// when a small number of degrees off of where it should be // when a small number of degrees off of where it should be
// if below the transition angle (still in attitude mode) // if below the transition angle (still in attitude mode)
@ -440,21 +440,24 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
if (magnitude <= rattitude_mode_transition_stick_position) { if (magnitude <= rattitude_mode_transition_stick_position) {
magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position; magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
} else { } else {
magnitude = (magnitude - rattitude_mode_transition_stick_position) * (1.0f-STICK_VALUE_AT_MODE_TRANSITION) / (1.0f - rattitude_mode_transition_stick_position) + STICK_VALUE_AT_MODE_TRANSITION; magnitude = (magnitude - rattitude_mode_transition_stick_position)
* (1.0f-STICK_VALUE_AT_MODE_TRANSITION)
/ (1.0f - rattitude_mode_transition_stick_position)
+ STICK_VALUE_AT_MODE_TRANSITION;
} }
rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude
+ magnitude * rateDesiredAxisRate; + magnitude * rateDesiredAxisRate;
// Compute the inner loop for the averaged rate // Compute the inner loop for the averaged rate
// actuatorDesiredAxis[i] is the weighted average // actuatorDesiredAxis[i] is the weighted average
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor,
rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;
} }
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR: case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output // Store for debugging output
rateDesiredAxis[i] = stabDesiredAxis[i]; rateDesiredAxis[i] = stabDesiredAxis[i];