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AP_HAL_SITL: reduce scope of loop variable

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Peter Barker 2021-06-26 12:14:15 +10:00 committed by Peter Barker
parent fcde1e7370
commit 67ebdc300b
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -749,10 +749,9 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
/* this maps the registers used for PWM outputs. The RC /* this maps the registers used for PWM outputs. The RC
* driver updates these whenever it wants the channel output * driver updates these whenever it wants the channel output
* to change */ * to change */
uint8_t i;
if (last_update_usec == 0 || !output_ready) { if (last_update_usec == 0 || !output_ready) {
for (i=0; i<SITL_NUM_CHANNELS; i++) { for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
pwm_output[i] = 1000; pwm_output[i] = 1000;
} }
if (_vehicle == ArduPlane) { if (_vehicle == ArduPlane) {
@ -807,7 +806,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
input.wind.turbulence = _sitl?_sitl->wind_turbulance:0; input.wind.turbulence = _sitl?_sitl->wind_turbulance:0;
input.wind.dir_z = wind_dir_z; input.wind.dir_z = wind_dir_z;
for (i=0; i<SITL_NUM_CHANNELS; i++) { for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
if (pwm_output[i] == 0xFFFF) { if (pwm_output[i] == 0xFFFF) {
input.servos[i] = 0; input.servos[i] = 0;
} else { } else {
@ -834,7 +833,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
// do a little quadplane dance // do a little quadplane dance
float hover_throttle = 0.0f; float hover_throttle = 0.0f;
uint8_t running_motors = 0; uint8_t running_motors = 0;
for (i=0; i < sitl_model->get_num_motors() - 1; i++) { for (uint8_t i=0; i < sitl_model->get_num_motors() - 1; i++) {
float motor_throttle = constrain_float((input.servos[sitl_model->get_motors_offset() + i] - 1000) / 1000.0f, 0.0f, 1.0f); float motor_throttle = constrain_float((input.servos[sitl_model->get_motors_offset() + i] - 1000) / 1000.0f, 0.0f, 1.0f);
// update motor_on flag // update motor_on flag
if (!is_zero(motor_throttle)) { if (!is_zero(motor_throttle)) {
@ -857,7 +856,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
} else { } else {
// run checks on each motor // run checks on each motor
uint8_t running_motors = 0; uint8_t running_motors = 0;
for (i=0; i < sitl_model->get_num_motors(); i++) { for (uint8_t i=0; i < sitl_model->get_num_motors(); i++) {
float motor_throttle = constrain_float((input.servos[i] - 1000) / 1000.0f, 0.0f, 1.0f); float motor_throttle = constrain_float((input.servos[i] - 1000) / 1000.0f, 0.0f, 1.0f);
// update motor_on flag // update motor_on flag
if (!is_zero(motor_throttle)) { if (!is_zero(motor_throttle)) {
@ -880,7 +879,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
if (_sitl->state.battery_voltage <= 0) { if (_sitl->state.battery_voltage <= 0) {
if (_vehicle == ArduSub) { if (_vehicle == ArduSub) {
voltage = _sitl->batt_voltage; voltage = _sitl->batt_voltage;
for (i = 0; i < 6; i++) { for (uint8_t i=0; i<6; i++) {
float pwm = input.servos[i]; float pwm = input.servos[i];
//printf("i: %d, pwm: %.2f\n", i, pwm); //printf("i: %d, pwm: %.2f\n", i, pwm);
float fraction = fabsf((pwm - 1500) / 500.0f); float fraction = fabsf((pwm - 1500) / 500.0f);