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

#
# old_revision [4f22e7ef7d3064e3b51a5b868a4722f3f13c747b]
# new_revision [dc88787ecd1d574feba045763baed2a7651ff33d]
#
# patch "stick.c"
#  from [57244f98d116ac872a524b6de2c760af161fd0a0]
#    to [2f04655a185f179c9e8469822e089c308cb3a220]
#
============================================================
--- stick.c	57244f98d116ac872a524b6de2c760af161fd0a0
+++ stick.c	2f04655a185f179c9e8469822e089c308cb3a220
@@ -12,27 +12,28 @@
 #include "timer.h"
 #include "trig.h"
 #include "motor.h"
-#include "wmp.h"
 #include "status.h"
 #include "watchdog.h"
+#include "log.h"
+#include "config.h"
 
 #define TWO_PI 6.28318531f
 #define PI 3.14159265f
 
-#define MIN_X 8720
-#define MAX_X 23800
-#define CENTRE_X 16260
+#define MIN_X config.stick.timing.x.min
+#define MAX_X config.stick.timing.x.max
+#define CENTRE_X config.stick.timing.x.centre
 
-#define MIN_Y 8720
-#define MAX_Y 23800
-#define CENTRE_Y 16260
+#define MIN_Y config.stick.timing.y.min
+#define MAX_Y config.stick.timing.y.max
+#define CENTRE_Y config.stick.timing.y.centre
 
-#define MIN_Z 8720
-#define MAX_Z 23800
-#define CENTRE_Z 16300
+#define MIN_Z config.stick.timing.z.min
+#define MAX_Z config.stick.timing.z.max
+#define CENTRE_Z config.stick.timing.z.centre
 
-#define MIN_THR 9720
-#define MAX_THR 23750
+#define MIN_THR config.stick.timing.throttle.min
+#define MAX_THR config.stick.timing.throttle.max
 
 #define MIN_REAL_THR 8720
 
@@ -46,11 +47,11 @@
  */
 
 /* Full scale is a roll/pitch angle of 30 degrees from the vertical */
-#define SCALE_X (TWO_PI*30.0/360.0 / (MAX_X-CENTRE_X))
-#define SCALE_Y (TWO_PI*30.0/360.0 / (MAX_Y-CENTRE_Y))
+#define SCALE_X (TWO_PI*config.stick.sensitivity.x/360.0 / (MAX_X-CENTRE_X))
+#define SCALE_Y (TWO_PI*config.stick.sensitivity.y/360.0 / (MAX_Y-CENTRE_Y))
 
 /* Full scale is a complete rotation in one second */
-#define SCALE_Z (TWO_PI / (MAX_Z-CENTRE_Z))
+#define SCALE_Z (TWO_PI*config.stick.sensitivity.z/360.0 / (MAX_Z-CENTRE_Z))
 
 /* 0 is min throttle, 1 is max throttle */
 #define SCALE_THROTTLE (1.0f/(MAX_THR - MIN_THR))
@@ -59,9 +60,9 @@ 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 +73,16 @@ 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
@@ -105,12 +106,24 @@ void stick_input(void) {
 
 void stick_input(void) {
 	float x, y, z, throttle;
+	unsigned int xi, yi, zi, throttlei;
+
 	if (timer_allvalid()) {
-		x = timer_input(0);
-		y = timer_input(1);
-		throttle = timer_input(2);
-		z = timer_input(3);
+		xi = timer_input(0);
+		yi = timer_input(1);
+		throttlei = timer_input(2);
+		zi = timer_input(3);
 
+		log_put_uint16(xi);
+		log_put_uint16(yi);
+		log_put_uint16(throttlei);
+		log_put_uint16(zi);
+
+		x = xi;
+		y = yi;
+		throttle = throttlei;
+		z = zi;
+
 #ifdef STICK_DEBUG_CALIBRATE
 		if ((stick_counter % 100) == 0)
 			stick_debug_calibrate();
@@ -140,6 +153,10 @@ 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;
@@ -152,9 +169,7 @@ 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) {
@@ -165,10 +180,10 @@ 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
 
 /*