Revert "Merge pull request #372 from aughey/betaflight"

This reverts commit a6a5f50ffb, reversing
changes made to 9cc5503851.

src/main/common/maths.c

@@ -111,6 +111,26 @@ int32_t applyDeadband(int32_t value, int32_t deadband)
     return value;
 }
 
+inline int constrain(int amt, int low, int high)
+{
+    if (amt < low)
+        return low;
+    else if (amt > high)
+        return high;
+    else
+        return amt;
+}
+
+inline float constrainf(float amt, float low, float high)
+{
+    if (amt < low)
+        return low;
+    else if (amt > high)
+        return high;
+    else
+        return amt;
+}
+
 void devClear(stdev_t *dev)
 {
     dev->m_n = 0;

src/main/common/maths.h

@@ -116,25 +116,3 @@ void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
 int16_t qPercent(fix12_t q);
 int16_t qMultiply(fix12_t q, int16_t input);
 fix12_t qConstruct(int16_t num, int16_t den);
-
-// Defining constrain and constrainf as inline in the include file
-// because these functions are used universally and should be fast.
-inline int constrain(int amt, int low, int high)
-{
-    if (amt < low)
-        return low;
-    else if (amt > high)
-        return high;
-    else
-        return amt;
-}
-
-inline float constrainf(float amt, float low, float high)
-{
-    if (amt < low)
-        return low;
-    else if (amt > high)
-        return high;
-    else
-        return amt;
-}

src/main/config/config.c

@@ -124,15 +124,8 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
 #define FLASH_TO_RESERVE_FOR_CONFIG 0x1000
 #endif
 
-// use the last flash pages for storage
-#ifdef CUSTOM_FLASH_MEMORY_ADDRESS
-size_t custom_flash_memory_address = 0;
-#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address)
-#else
 // use the last flash pages for storage
 #define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG))
-#endif
-
 
 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;

src/main/flight/mixer.c

@@ -753,11 +753,6 @@ void mixTable(void)
     uint32_t i;
     fix12_t vbatCompensationFactor;
     static fix12_t mixReduction;
-	bool use_vbat_compensation = false;
-	if (batteryConfig && batteryConfig->vbatPidCompensation) {
-		use_vbat_compensation = true;
-		vbatCompensationFactor = calculateVbatPidCompensation();
-	}
 
     bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
 
@@ -771,6 +766,8 @@ void mixTable(void)
     int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
     int16_t rollPitchYawMixMin = 0;
 
+    if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation
+
     // Find roll/pitch/yaw desired output
     for (i = 0; i < motorCount; i++) {
         rollPitchYawMix[i] =
@@ -778,7 +775,7 @@ void mixTable(void)
             axisPID[ROLL] * currentMixer[i].roll +
             -mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
 
-        if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]);  // Add voltage compensation
+        if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]);  // Add voltage compensation
 
         if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
         if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];

src/main/main.c

@@ -26,6 +26,7 @@
 
 #include "common/axis.h"
 #include "common/color.h"
+#include "common/atomic.h"
 #include "common/maths.h"
 
 #include "drivers/nvic.h"
@@ -657,7 +658,7 @@ void processLoopback(void) {
 #define processLoopback()
 #endif
 
-void main_init(void) {
+int main(void) {
     init();
 
     /* Setup scheduler */
@@ -728,22 +729,12 @@ void main_init(void) {
 #ifdef USE_BST
     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
-}
 
-void main_step(void) {
+    while (1) {
         scheduler();
         processLoopback();
     }
-
-#ifndef NOMAIN
-int main(void)
-{
-    main_init();
-    while(1) {
-        main_step();
 }
-}
-#endif
 
 #ifdef DEBUG_HARDFAULTS
 //from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/

src/main/sensors/initialisation.c

@@ -214,7 +214,6 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 }
 
 #ifdef USE_FAKE_GYRO
-int16_t fake_gyro_values[XYZ_AXIS_COUNT] = { 0,0,0 };
 static void fakeGyroInit(uint16_t lpf)
 {
     UNUSED(lpf);
@@ -222,9 +221,7 @@ static void fakeGyroInit(uint16_t lpf)
 
 static bool fakeGyroRead(int16_t *gyroADC)
 {
-	for (int i = 0; i < XYZ_AXIS_COUNT; ++i) {
+    memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
-		gyroADC[i] = fake_gyro_values[i];
-	}
     return true;
 }
 
@@ -244,13 +241,9 @@ bool fakeGyroDetect(gyro_t *gyro)
 #endif
 
 #ifdef USE_FAKE_ACC
-int16_t fake_acc_values[XYZ_AXIS_COUNT] = {0,0,0};
-
 static void fakeAccInit(void) {}
 static bool fakeAccRead(int16_t *accData) {
-    for(int i=0;i<XYZ_AXIS_COUNT;++i) {
+    memset(accData, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
-		accData[i] = fake_acc_values[i];
-    }
     return true;
 }