From f05b733434a93573a4c1a01a17bca1e9a82aeed1 Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Sun, 27 Mar 2016 01:34:55 -0400
Subject: [PATCH] LP-76 minor cleanup

---
 flight/modules/AutoTune/autotune.c       | 4 ++--
 flight/modules/Stabilization/innerloop.c | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/flight/modules/AutoTune/autotune.c b/flight/modules/AutoTune/autotune.c
index edda57854..ed4650026 100644
--- a/flight/modules/AutoTune/autotune.c
+++ b/flight/modules/AutoTune/autotune.c
@@ -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;
diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index f3aafcea1..6fd36b089 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -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;
                     }