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px4-firmware
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Code style cleanup.

This commit is contained in:
Daniel Shiels 2014-11-10 15:54:28 +11:00
parent 60ecd8868d
commit 34e9d9efce
1 changed files with 7 additions and 6 deletions
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13
src/modules/px4iofirmware/sbus.c
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@ -125,8 +125,7 @@ sbus_init(const char *device)
void
sbus1_output(uint16_t *values, uint16_t num_values)
{
//int. first byte of data is offset 1 in sbus
uint8_t byteindex = 1;
uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */
uint8_t offset = 0;
uint16_t value;
hrt_abstime now;
@ -141,11 +140,13 @@ sbus1_output(uint16_t *values, uint16_t num_values)
oframe[i] = 0;
}
// 16 is sbus number of servos/channels minus 2 single bit channels.
// currently ignoring single bit channels.
for (uint16_t i = 0; (i < num_values) && (i < 16); ++i) {
/* 16 is sbus number of servos/channels minus 2 single bit channels.
* currently ignoring single bit channels. */
for (unsigned i = 0; (i < num_values) && (i < 16); ++i) {
value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f);
//protect from out of bounds values and limit to 11 bits;
/*protect from out of bounds values and limit to 11 bits*/
if (value > 0x07ff ) {
value = 0x07ff;
}