Merge pull request #1240 from betaflight/minor-cleanups-1

Minor cleanups 1

src/main/common/filter.c

@@ -106,7 +106,7 @@ void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refresh
     filter->d1 = filter->d2 = 0;
 }
 
-/* Computes a biquad_t filter on a sample */
+/* Computes a biquadFilter_t filter on a sample */
 float biquadFilterApply(biquadFilter_t *filter, float input)
 {
     const float result = filter->b0 * input + filter->d1;

src/main/main.c

@@ -674,7 +674,7 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime); // Add a littlebit of extra time to reduce busy wait
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
     setTaskEnabled(TASK_GYROPID, true);
 
     if (sensors(SENSOR_ACC)) {

src/main/mw.c

@@ -120,7 +120,6 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 extern uint32_t currentTime;
 extern uint8_t PIDweight[3];
 
-uint16_t filteredCycleTime;
 static bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
 float setpointRate[3], ptermSetpointRate[3];

src/main/scheduler/scheduler.h

@@ -119,7 +119,6 @@ typedef struct {
 } cfTask_t;
 
 extern cfTask_t cfTasks[TASK_COUNT];
-extern uint16_t cpuLoad;
 extern uint16_t averageSystemLoadPercent;
 
 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);