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Plane: made variables static and remove initial rc overrides

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minor code size savings
This commit is contained in:
Andrew Tridgell 2013-04-15 14:46:01 +10:00
parent e918293e86
commit 79c6f32400
2 changed files with 10 additions and 15 deletions
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22
ArduPlane/ArduPlane.pde
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@ -230,8 +230,8 @@ static bool training_manual_pitch; // user has manual pitch control
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
GCS_MAVLINK gcs0;
GCS_MAVLINK gcs3;
static GCS_MAVLINK gcs0;
static GCS_MAVLINK gcs3;
// selected navigation controller
static AP_Navigation *nav_controller = &L1_controller;
@ -240,25 +240,25 @@ static AP_Navigation *nav_controller = &L1_controller;
// Analog Inputs
////////////////////////////////////////////////////////////////////////////////
AP_HAL::AnalogSource *pitot_analog_source;
static AP_HAL::AnalogSource *pitot_analog_source;
// a pin for reading the receiver RSSI voltage. The scaling by 0.25
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
AP_HAL::AnalogSource *rssi_analog_source;
static AP_HAL::AnalogSource *rssi_analog_source;
AP_HAL::AnalogSource *vcc_pin;
static AP_HAL::AnalogSource *vcc_pin;
AP_HAL::AnalogSource * batt_volt_pin;
AP_HAL::AnalogSource * batt_curr_pin;
static AP_HAL::AnalogSource * batt_volt_pin;
static AP_HAL::AnalogSource * batt_curr_pin;
////////////////////////////////////////////////////////////////////////////////
// Relay
////////////////////////////////////////////////////////////////////////////////
AP_Relay relay;
static AP_Relay relay;
// Camera
#if CAMERA == ENABLED
AP_Camera camera(&relay);
static AP_Camera camera(&relay);
#endif
////////////////////////////////////////////////////////////////////////////////
@ -302,9 +302,7 @@ static uint16_t elevon2_trim = 1500;
// These are used in the calculation of elevon1_trim and elevon2_trim
static uint16_t ch1_temp = 1500;
static uint16_t ch2_temp = 1500;
// These are values received from the GCS if the user is using GCS joystick
// control and are substituted for the values coming from the RC radio
static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
// A flag if GCS joystick control is in use
static bool rc_override_active = false;

3
ArduPlane/system.pde
View File

@ -188,9 +188,6 @@ static void init_ardupilot()
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_TYPE_FIXED_WING;
// Set initial values for no override
rc_override_active = hal.rcin->set_overrides(rc_override, 8);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs