From 8282bc76d2037e4e88fb0eba5db94ebdb1fbfad3 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 26 Feb 2015 12:05:03 +0000
Subject: [PATCH] Mixer code readability and code size improvement.

Naze target size before: 113412, after: 113388

Closes #551
---
 src/main/flight/mixer.c | 55 ++++++++++++++++++++++++++++++-------------------
 1 file changed, 34 insertions(+), 21 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 31af981d3..875ea3bb0 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -26,6 +26,7 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "drivers/system.h"
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_output.h"
@@ -544,7 +545,6 @@ static void airplaneMixer(void)
 
 void mixTable(void)
 {
-    int16_t maxMotor;
     uint32_t i;
 
     if (motorCount > 3) {
@@ -662,29 +662,42 @@ void mixTable(void)
     }
 #endif
 
-    maxMotor = motor[0];
-    for (i = 1; i < motorCount; i++)
-        if (motor[i] > maxMotor)
-            maxMotor = motor[i];
-    for (i = 0; i < motorCount; i++) {
-        if (maxMotor > escAndServoConfig->maxthrottle)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
-            motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
-        if (feature(FEATURE_3D)) {
-            if ((rcData[THROTTLE]) > rxConfig->midrc) {
-                motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
-            } else {
-                motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
+    if (ARMING_FLAG(ARMED)) {
+
+        int16_t maxMotor;
+
+        maxMotor = 0;
+        for (i = 1; i < motorCount; i++) {
+            if (motor[i] > maxMotor) {
+                maxMotor = motor[i];
             }
-        } else {
-            motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
-            if ((rcData[THROTTLE]) < rxConfig->mincheck) {
-                if (!feature(FEATURE_MOTOR_STOP))
-                    motor[i] = escAndServoConfig->minthrottle;
-                else
-                    motor[i] = escAndServoConfig->mincommand;
+        }
+
+        for (i = 0; i < motorCount; i++) {
+            if (maxMotor > escAndServoConfig->maxthrottle) {
+                // this is a way to still have good gyro corrections if at least one motor reaches its max.
+                motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
+            }
+
+            if (feature(FEATURE_3D)) {
+                if ((rcData[THROTTLE]) > rxConfig->midrc) {
+                    motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
+                } else {
+                    motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
+                }
+            } else {
+                motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
+                if ((rcData[THROTTLE]) < rxConfig->mincheck) {
+                    if (!feature(FEATURE_MOTOR_STOP))
+                        motor[i] = escAndServoConfig->minthrottle;
+                    else
+                        motor[i] = escAndServoConfig->mincommand;
+                }
             }
         }
-        if (!ARMING_FLAG(ARMED)) {
+
+    } else {
+        for (i = 0; i < motorCount; i++) {
             motor[i] = motor_disarmed[i];
         }
     }
-- 
2.11.4.GIT