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TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM.

This commit is contained in:
Robert Lefebvre 2014-07-09 15:52:01 -04:00 committed by Randy Mackay
parent 4b9aea2c55
commit 022425584b
3 changed files with 8 additions and 9 deletions
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3
ArduCopter/heli.h
View File

@ -14,7 +14,8 @@ ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
// Tradheli flags
static struct {
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t dynamic_flight : 1; // 0 // true if we are moving at a significant speed (used to turn on/off leaky I terms)
uint8_t init_targets_on_arming : 1; // 1 // true if we have been disarmed, and need to reset rate controller targets when we arm
} heli_flags;
#endif // FRAME_CONFIG == HELI_FRAME

7
ArduCopter/heli_control_acro.pde
View File

@ -16,7 +16,6 @@ static bool heli_acro_init(bool ignore_checks)
static void heli_acro_run()
{
float target_roll, target_pitch, target_yaw;
static bool init_targets_on_arming;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
@ -25,12 +24,12 @@ static void heli_acro_run()
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
init_targets_on_arming=true;
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && init_targets_on_arming) {
init_targets_on_arming=false;
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}

7
ArduCopter/heli_control_stabilize.pde
View File

@ -20,7 +20,6 @@ static void heli_stabilize_run()
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
static bool init_targets_on_arming;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
@ -29,12 +28,12 @@ static void heli_stabilize_run()
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
init_targets_on_arming=true;
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && init_targets_on_arming) {
init_targets_on_arming=false;
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}