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Code Issues Releases Activity

LP-76 minor cleanup

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This commit is contained in:
Cliff Geerdes 2016-03-27 01:34:55 -04:00
parent 4240c8ea5c
commit f05b733434
2 changed files with 5 additions and 5 deletions
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4
flight/modules/AutoTune/autotune.c
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@ -203,6 +203,8 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
uint32_t lastUpdateTime = 0; // initialization is only for compiler warning
float noise[3] = { 0 };
uint32_t lastTime = 0.0f;
uint32_t measureTime = 0;
uint32_t updateCounter = 0;
bool saveSiNeeded = false;
bool savePidNeeded = false;
@ -218,9 +220,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
InitSystemIdent(false);
while (1) {
static uint32_t updateCounter = 0;
uint32_t diffTime;
uint32_t measureTime = 60000;
bool doingIdent = false;
bool canSleep = true;
FlightStatusData flightStatus;

6
flight/modules/Stabilization/innerloop.c
View File

@ -347,9 +347,9 @@ static void stabilizationInnerloopTask()
if (PIOS_DELAY_DiffuS(systemIdentTimeVal) / 1000.0f > SYSTEM_IDENT_PERIOD) {
const float SCALE_BIAS = 7.1f;
SystemIdentStateData systemIdentState;
SystemIdentStateBetaData systemIdentBeta;
SystemIdentStateGet(&systemIdentState);
SystemIdentStateBetaGet(&systemIdentBeta);
systemIdentTimeVal = PIOS_DELAY_GetRaw();
identOffsets[0] = 0.0f;
identOffsets[1] = 0.0f;
@ -358,7 +358,7 @@ static void stabilizationInnerloopTask()
// why does yaw change twice a cycle and roll/pitch change only once?
uint8_t index = ((uint8_t[]) { '\2', '\0', '\2', '\0', '\2', '\1', '\2', '\1' }
)[identIteration];
float scale = expapprox(SCALE_BIAS - SystemIdentStateBetaToArray(systemIdentState.Beta)[index]);
float scale = expapprox(SCALE_BIAS - SystemIdentStateBetaToArray(systemIdentBeta)[index]);
if (scale > 0.25f) {
scale = 0.25f;
}