Use indentation and whitespace to improve readability.
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@ -569,28 +569,37 @@ void activateConfig(void)
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activateControlRateConfig();
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activateControlRateConfig();
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useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, ¤tProfile->pidProfile);
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useRcControlsConfig(
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currentProfile->modeActivationConditions,
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&masterConfig.escAndServoConfig,
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¤tProfile->pidProfile
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);
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useGyroConfig(&masterConfig.gyroConfig);
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useGyroConfig(&masterConfig.gyroConfig);
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#ifdef TELEMETRY
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#ifdef TELEMETRY
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useTelemetryConfig(&masterConfig.telemetryConfig);
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useTelemetryConfig(&masterConfig.telemetryConfig);
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#endif
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#endif
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setPIDController(currentProfile->pidController);
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setPIDController(currentProfile->pidController);
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#ifdef GPS
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#ifdef GPS
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gpsUseProfile(¤tProfile->gpsProfile);
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gpsUseProfile(¤tProfile->gpsProfile);
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gpsUsePIDs(¤tProfile->pidProfile);
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gpsUsePIDs(¤tProfile->pidProfile);
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#endif
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#endif
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useFailsafeConfig(¤tProfile->failsafeConfig);
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useFailsafeConfig(¤tProfile->failsafeConfig);
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setAccelerationTrims(&masterConfig.accZero);
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setAccelerationTrims(&masterConfig.accZero);
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mixerUseConfigs(
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mixerUseConfigs(
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currentProfile->servoConf,
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currentProfile->servoConf,
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&masterConfig.flight3DConfig,
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&masterConfig.flight3DConfig,
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&masterConfig.escAndServoConfig,
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&masterConfig.escAndServoConfig,
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¤tProfile->mixerConfig,
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¤tProfile->mixerConfig,
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&masterConfig.airplaneConfig,
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&masterConfig.airplaneConfig,
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&masterConfig.rxConfig,
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&masterConfig.rxConfig,
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¤tProfile->gimbalConfig
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¤tProfile->gimbalConfig
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);
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);
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imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
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imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
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imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
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imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
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@ -598,8 +607,18 @@ void activateConfig(void)
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imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
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imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
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imuRuntimeConfig.small_angle = masterConfig.small_angle;
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imuRuntimeConfig.small_angle = masterConfig.small_angle;
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configureImu(&imuRuntimeConfig, ¤tProfile->pidProfile, ¤tProfile->accDeadband);
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configureImu(
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configureAltitudeHold(¤tProfile->pidProfile, ¤tProfile->barometerConfig, ¤tProfile->rcControlsConfig, &masterConfig.escAndServoConfig);
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&imuRuntimeConfig,
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¤tProfile->pidProfile,
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¤tProfile->accDeadband
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);
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configureAltitudeHold(
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¤tProfile->pidProfile,
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¤tProfile->barometerConfig,
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¤tProfile->rcControlsConfig,
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&masterConfig.escAndServoConfig
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);
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calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
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calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
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calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);
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calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);
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