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Remove non-effective statics

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This commit is contained in:
Oleg Kalachev 2023-05-31 20:12:45 +03:00
parent 9a93367629
commit 39875cafb9
8 changed files with 28 additions and 28 deletions
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8
flix/cli.ino
View File

@ -30,7 +30,7 @@ const char* motd =
"fullmot <n> - test motor on all signals\n" "fullmot <n> - test motor on all signals\n"
"wifi - start wi-fi access point\n"; "wifi - start wi-fi access point\n";
static const struct Param { const struct Param {
const char* name; const char* name;
float* value; float* value;
float* value2; float* value2;
@ -51,7 +51,7 @@ static const struct Param {
// {"m", &mode, nullptr}, // {"m", &mode, nullptr},
}; };
static void doCommand(String& command, String& value) void doCommand(String& command, String& value)
{ {
if (command == "help" || command == "motd") { if (command == "help" || command == "motd") {
Serial.println(motd); Serial.println(motd);
@ -110,7 +110,7 @@ static void doCommand(String& command, String& value)
} }
} }
static void showTable() void showTable()
{ {
for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) { for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
Serial.print(params[i].name); Serial.print(params[i].name);
@ -119,7 +119,7 @@ static void showTable()
} }
} }
static void cliTestMotor(uint8_t n) void cliTestMotor(uint8_t n)
{ {
Serial.printf("Testing motor %d\n", n); Serial.printf("Testing motor %d\n", n);
motors[n] = 1; motors[n] = 1;

10
flix/control.ino
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@ -98,7 +98,7 @@ void interpretRC()
} }
} }
static void controlAttitude() void controlAttitude()
{ {
if (!armed) { if (!armed) {
rollPID.reset(); rollPID.reset();
@ -149,7 +149,7 @@ static void controlAttitude()
// std::cout << "rsp: " << ratesTarget.x << " " << ratesTarget.y << std::endl; // std::cout << "rsp: " << ratesTarget.x << " " << ratesTarget.y << std::endl;
} }
static void controlAttitudeAlter() void controlAttitudeAlter()
{ {
if (!armed) { if (!armed) {
rollPID.reset(); rollPID.reset();
@ -169,7 +169,7 @@ static void controlAttitudeAlter()
} }
// passthrough mode // passthrough mode
static void controlManual() void controlManual()
{ {
if (controls[RC_CHANNEL_THROTTLE] < 0.1) { if (controls[RC_CHANNEL_THROTTLE] < 0.1) {
memset(motors, 0, sizeof(motors)); memset(motors, 0, sizeof(motors));
@ -195,7 +195,7 @@ static void controlManual()
motors[3] = constrain(motors[3], 0, 1); motors[3] = constrain(motors[3], 0, 1);
} }
static void controlRate() void controlRate()
{ {
if (!armed) { // TODO: too rough if (!armed) { // TODO: too rough
memset(motors, 0, sizeof(motors)); memset(motors, 0, sizeof(motors));
@ -257,7 +257,7 @@ void desaturate(float& a, float& b, float& c, float& d)
static bool motorsSaturation = false; static bool motorsSaturation = false;
static inline void indicateSaturation() { inline void indicateSaturation() {
bool sat = motors[0] > 1 || motors[1] > 1 || motors[2] > 1 || motors[3] > 1 || bool sat = motors[0] > 1 || motors[1] > 1 || motors[2] > 1 || motors[3] > 1 ||
motors[0] < 0 || motors[1] < 0 || motors[2] < 0 || motors[3] < 0; motors[0] < 0 || motors[1] < 0 || motors[2] < 0 || motors[3] < 0;
if (motorsSaturation != sat) { if (motorsSaturation != sat) {

8
flix/imu.ino
View File

@ -53,7 +53,7 @@ bool readIMU()
return rates != lastRates; return rates != lastRates;
} }
static void calibrateGyro() void calibrateGyro()
{ {
Serial.println("Calibrating gyro, stand still"); Serial.println("Calibrating gyro, stand still");
delay(500); delay(500);
@ -63,7 +63,7 @@ static void calibrateGyro()
printIMUCal(); printIMUCal();
} }
static void calibrateAccel() void calibrateAccel()
{ {
Serial.println("Cal accel: place level"); delay(3000); Serial.println("Cal accel: place level"); delay(3000);
IMU.calibrateAccel(); IMU.calibrateAccel();
@ -80,14 +80,14 @@ static void calibrateAccel()
printIMUCal(); printIMUCal();
} }
static void loadAccelCal() void loadAccelCal()
{ {
IMU.setAccelCalX(-0.0048542023, 1.0008112192); IMU.setAccelCalX(-0.0048542023, 1.0008112192);
IMU.setAccelCalY(0.0521845818, 0.9985780716); IMU.setAccelCalY(0.0521845818, 0.9985780716);
IMU.setAccelCalZ(0.5754694939, 1.0045746565); IMU.setAccelCalZ(0.5754694939, 1.0045746565);
} }
static void loadGyroCal() void loadGyroCal()
{ {
IMU.setGyroBiasX_rads(-0.0185128022); IMU.setGyroBiasX_rads(-0.0185128022);
IMU.setGyroBiasY_rads(-0.0262369743); IMU.setGyroBiasY_rads(-0.0262369743);

4
flix/log.ino
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@ -9,8 +9,8 @@ const float LOG_PERIOD = 1 / LOG_RATE;
const int LOG_SIZE = LOG_DURATION * LOG_RATE; const int LOG_SIZE = LOG_DURATION * LOG_RATE;
const int LOG_COLUMNS = 14; const int LOG_COLUMNS = 14;
static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float) float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
static int logPointer = 0; int logPointer = 0;
void logData() void logData()
{ {

6
flix/mavlink.ino
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@ -9,8 +9,8 @@
#define PERIOD_SLOW 1000000 // us #define PERIOD_SLOW 1000000 // us
#define PERIOD_FAST 100000 // us #define PERIOD_FAST 100000 // us
static uint32_t lastSlow; uint32_t lastSlow;
static uint32_t lastFast; uint32_t lastFast;
void sendMavlink() void sendMavlink()
{ {
@ -60,7 +60,7 @@ void sendMavlink()
} }
} }
static inline void sendMessage(const void *msg) inline void sendMessage(const void *msg)
{ {
uint8_t buf[MAVLINK_MAX_PACKET_LEN]; uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg); uint16_t len = mavlink_msg_to_send_buffer(buf, (mavlink_message_t *)msg);

6
flix/rc.ino
View File

@ -3,10 +3,10 @@
#include <SBUS.h> #include <SBUS.h>
static const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512}; const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512};
static const uint16_t channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472}; const uint16_t channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
static SBUS RC(Serial2); SBUS RC(Serial2);
void setupRC() void setupRC()
{ {

2
flix/test_motors.ino
View File

@ -1,7 +1,7 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com> // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix // Repository: https://github.com/okalachev/flix
static void _pwm(int n, uint16_t pwm) void _pwm(int n, uint16_t pwm)
{ {
printf("Motor %d: %d\n", n, pwm); printf("Motor %d: %d\n", n, pwm);
ledcWrite(n, pwmToDutyCycle(pwm)); ledcWrite(n, pwmToDutyCycle(pwm));

12
gazebo/flix.h
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@ -33,13 +33,13 @@ void applyAcc();
void signalizeHorizontality(); void signalizeHorizontality();
void control(); void control();
void interpretRC(); void interpretRC();
static void controlAttitude(); void controlAttitude();
static void controlManual(); void controlManual();
static void controlRate(); void controlRate();
void desaturate(float& a, float& b, float& c, float& d); void desaturate(float& a, float& b, float& c, float& d);
static void indicateSaturation(); void indicateSaturation();
static void showTable(); void showTable();
static void cliTestMotor(uint8_t n); void cliTestMotor(uint8_t n);
// mocks // mocks
void setLED(bool on) {}; void setLED(bool on) {};