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readability: defined a CMD_SHIFT for heli..

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This commit is contained in:
Felix Ruess
2011-12-20 18:01:52 +01:00
parent ad15fc4a35
commit 5d2b11099b
1 changed files with 10 additions and 14 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
+10 -14
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@@ -144,25 +144,21 @@ void stabilization_attitude_run(bool_t in_flight) {
stabilization_gains.d.z * rate_err.r +
OFFSET_AND_ROUND2((stabilization_gains.i.z * stabilization_att_sum_err.psi), 10);
/* sum feedforward and feedback */
#ifdef USE_HELI
#define CMD_SHIFT 12
#else
#define CMD_SHIFT 16
#endif
/* sum feedforward and feedback */
stabilization_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]), 12);
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]), CMD_SHIFT);
stabilization_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]), 12);
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]), CMD_SHIFT);
stabilization_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]), 12);
#else
stabilization_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]), 16);
stabilization_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]), 16);
stabilization_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]), 16);
#endif
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]), CMD_SHIFT);
}