Merge pull request #4314 from martinbudden/bf_rc_controls_tidy
Tidy rc_controls.c
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a4040caebd
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@ -135,8 +135,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
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// an extra guard for disarming through switch to prevent that one frame can disarm it
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static uint8_t rcDisarmTicks;
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static bool doNotRepeat;
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uint8_t stTmp = 0;
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int i;
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#ifdef CMS
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if (cmsInMenu) {
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@ -145,16 +143,20 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
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#endif
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// checking sticks positions
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for (i = 0; i < 4; i++) {
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uint8_t stTmp = 0;
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for (int i = 0; i < 4; i++) {
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stTmp >>= 2;
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if (rcData[i] > rxConfig()->mincheck)
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if (rcData[i] > rxConfig()->mincheck) {
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stTmp |= 0x80; // check for MIN
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if (rcData[i] < rxConfig()->maxcheck)
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}
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if (rcData[i] < rxConfig()->maxcheck) {
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stTmp |= 0x40; // check for MAX
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}
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}
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if (stTmp == rcSticks) {
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if (rcDelayMs <= INT16_MAX - (getTaskDeltaTime(TASK_SELF) / 1000))
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if (rcDelayMs <= INT16_MAX - (getTaskDeltaTime(TASK_SELF) / 1000)) {
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rcDelayMs += getTaskDeltaTime(TASK_SELF) / 1000;
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}
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} else {
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rcDelayMs = 0;
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doNotRepeat = false;
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@ -238,15 +240,16 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
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}
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// Multiple configuration profiles
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i = 0;
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
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i = 1;
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else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
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i = 2;
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else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
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i = 3;
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if (i) {
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changePidProfile(i - 1);
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int newPidProfile = 0;
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) { // ROLL left -> Profile 1
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newPidProfile = 1;
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} else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) { // PITCH up -> Profile 2
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newPidProfile = 2;
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} else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) { // ROLL right -> Profile 3
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newPidProfile = 3;
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}
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if (newPidProfile) {
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changePidProfile(newPidProfile - 1);
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return;
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}
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@ -269,7 +272,6 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
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// Accelerometer Trim
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rollAndPitchTrims_t accelerometerTrimsDelta;
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memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
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