Merge pull request #187 from kylemanna/cleanup

Various minor cleanups.  Thanks @Kylemanna

src/main/flight/autotune.c

@@ -66,10 +66,10 @@ extern int16_t debug[4];
  * In the BradWii software, it alternates between doing the P and D step and doing the I step so you can quit whenever you
  * want without having to tell it specifically to do the I term. The sequence is actually P&D, P&D, I, P&D, P&D, I...
  *
- * Note: The 4 degrees mentioned above is the value of AUTOTUNE_MAX_OSCILLATION.  In the BradWii code at the time of writing
+ * Note: The 4 degrees mentioned above is the value of AUTOTUNE_MAX_OSCILLATION_ANGLE.  In the BradWii code at the time of writing
  * the default value was 1.0f instead of 4.0f.
  *
- * To adjust how aggressive the tuning is, adjust the AUTOTUNEMAXOSCILLATION value.  A larger value will result in more
+ * To adjust how aggressive the tuning is, adjust the AUTOTUNE_MAX_OSCILLATION_ANGLE value.  A larger value will result in more
  * aggressive tuning. A lower value will result in softer tuning. It will rock back and forth between -AUTOTUNE_TARGET_ANGLE
  * and AUTOTUNE_TARGET_ANGLE degrees
  * AUTOTUNE_D_MULTIPLIER is a multiplier that puts in a little extra D when autotuning is done. This helps damp  the wobbles
@@ -249,7 +249,7 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
         // stop looking for the 2nd peak if we time out or if we change direction again after moving by more than half the maximum oscillation
         if (timedOut || (oscillationAmplitude > AUTOTUNE_MAX_OSCILLATION_ANGLE / 2 && currentAngle > firstPeakAngle)) {
             // analyze the data
-            // Our goal is to have zero overshoot and to have AUTOTUNEMAXOSCILLATION amplitude
+            // Our goal is to have zero overshoot and to have AUTOTUNE_MAX_OSCILLATION_ANGLE amplitude
 
             if (secondPeakAngle > targetAngleAtPeak) {
                 // overshot

src/main/main.c

@@ -41,9 +41,6 @@
 #include "drivers/adc.h"
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_spi.h"
-#include "drivers/gpio.h"
-#include "drivers/light_led.h"
-#include "drivers/sound_beeper.h"
 #include "drivers/inverter.h"
 
 #include "flight/flight.h"