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This diff has been restricted to the following files: 'stick.c'

#
# old_revision [056a532c92301bcb224e1f786c5f6720e8acf3eb]
# new_revision [3dc5e7ac4bcb952cc267892653dd78ed095d8778]
#
# patch "stick.c"
#  from [50fffafb58abb3d5935c27843ff50c4bd4ec5300]
#    to [c994ce958c11d747045e0cd4d6879a1fc4d7b4e5]
#
============================================================
--- stick.c	50fffafb58abb3d5935c27843ff50c4bd4ec5300
+++ stick.c	c994ce958c11d747045e0cd4d6879a1fc4d7b4e5
@@ -59,9 +59,9 @@ unsigned int stick_counter;
 
 unsigned int stick_counter;
 
-void stick_update(float x, float y, float z)
+void stick_update(vec3f stick)
 {
-	float tz = delta_t * z;
+	float tz = delta_t * stick.z;
 
 	stick_yaw += tz;
 
@@ -72,16 +72,16 @@ void stick_update(float x, float y, floa
 	    stick_yaw -= TWO_PI;
 
 #if 0
-	z = stick_yaw;
+	stick.z = stick_yaw;
 #endif
 
-	x = sine(x);
-	y = sine(y);
+	stick.x = sine(stick.x);
+	stick.y = sine(stick.y);
 #if 0
-	z = 1.0/fisqrt(1-x*x-y*y);
+	stick.z = 1.0/fisqrt(1-stick.x*stick.x-stick.y*stick.y);
 #endif
 
-	dcm_attitude_error(x, y, z);
+	dcm_attitude_error(stick);
 }
 
 #ifdef STICK_DEBUG_CALIBRATE
@@ -152,6 +152,10 @@ void stick_input(void) {
 		if (throttle < 0.0)
 			throttle = 0.0;
 	} else {
+		log_put_uint16(0);
+		log_put_uint16(0);
+		log_put_uint16(0);
+		log_put_uint16(0);
 		x = 0.0f;
 		y = 0.0f;
 		z = 0.0f;
@@ -164,9 +168,7 @@ void stick_input(void) {
 	watchdog_kick(WATCHDOG_STICK);
 
 	/* So the controls are back to front. Let's fix that. */
-	x = -x;
-	y = -y;
-	z = -z;
+	vec3f stick = {-x, -y, -z};
 
 #if 0
 	if ((stick_counter % 100) == 0) {
@@ -177,10 +179,10 @@ void stick_input(void) {
 #endif
 
 #if 1
-	stick_update(x, y, z);
+	stick_update(stick);
 #else
 	if ((stick_counter % 100) == 0)
-		stick_update(x, y, z);
+		stick_update(stick);
 #endif
 
 /*