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removed some unused vars,

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formatting, made loop speed same as PIDT1 to eliminate variable.
This commit is contained in:
Jason Short 2012-02-16 22:07:00 -08:00
parent 79d622939a
commit 36a120d8df
1 changed files with 7 additions and 23 deletions

22
ArduCopter/ArduCopter.pde
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@ -659,11 +659,6 @@ static int32_t auto_pitch;
static int16_t nav_lat; static int16_t nav_lat;
// The desired bank towards East (Positive) or West (Negative) // The desired bank towards East (Positive) or West (Negative)
static int16_t nav_lon; static int16_t nav_lon;
// This may go away, but for now I'm tracking the desired bank before we apply the Wind compensation I term
// This is mainly for debugging
//static int16_t nav_lat_p;
//static int16_t nav_lon_p;
// The Commanded ROll from the autopilot based on optical flow sensor. // The Commanded ROll from the autopilot based on optical flow sensor.
static int32_t of_roll = 0; static int32_t of_roll = 0;
// The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward. // The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
@ -829,7 +824,9 @@ void loop()
uint32_t timer = micros(); uint32_t timer = micros();
// We want this to execute fast // We want this to execute fast
// ---------------------------- // ----------------------------
if ((timer - fast_loopTimer) >= 4500) { if ((timer - fast_loopTimer) >= 5000) {
Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
//PORTK |= B00010000; //PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer; fast_loopTimer = timer;
@ -1426,19 +1423,6 @@ void update_roll_pitch_mode(void)
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in); g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
break; break;
/* case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform
if(do_simple && new_radio_frame){
update_simple_mode();
}
// mix in user control with Nav control
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);
g.rc_1.servo_out = get_stabilize_roll(control_roll);
g.rc_2.servo_out = get_stabilize_pitch(control_pitch);
break;
*/
case ROLL_PITCH_AUTO: case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform // apply SIMPLE mode transform
if(do_simple && new_radio_frame){ if(do_simple && new_radio_frame){