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atbetaflight
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This commit is contained in:
treymarc 2014-01-01 10:18:18 +01:00
parent 239120ba4e
commit 01f079c254
2 changed files with 574 additions and 569 deletions
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147
src/board.h
View File

@ -40,42 +40,42 @@
#define U_ID_2 (*(uint32_t*)0x1FFFF7F0) #define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
typedef enum { typedef enum {
SENSOR_GYRO = 1 << 0, // always present SENSOR_GYRO = 1 << 0, // always present
SENSOR_ACC = 1 << 1, SENSOR_ACC = 1 << 1,
SENSOR_BARO = 1 << 2, SENSOR_BARO = 1 << 2,
SENSOR_MAG = 1 << 3, SENSOR_MAG = 1 << 3,
SENSOR_SONAR = 1 << 4, SENSOR_SONAR = 1 << 4,
SENSOR_GPS = 1 << 5, SENSOR_GPS = 1 << 5,
SENSOR_GPSMAG = 1 << 6, SENSOR_GPSMAG = 1 << 6,
} AvailableSensors; } AvailableSensors;
// Type of accelerometer used/detected // Type of accelerometer used/detected
typedef enum AccelSensors { typedef enum AccelSensors {
ACC_DEFAULT = 0, ACC_DEFAULT = 0,
ACC_ADXL345 = 1, ACC_ADXL345 = 1,
ACC_MPU6050 = 2, ACC_MPU6050 = 2,
ACC_MMA8452 = 3, ACC_MMA8452 = 3,
ACC_BMA280 = 4, ACC_BMA280 = 4,
ACC_NONE = 5 ACC_NONE = 5
} AccelSensors; } AccelSensors;
typedef enum { typedef enum {
FEATURE_PPM = 1 << 0, FEATURE_PPM = 1 << 0,
FEATURE_VBAT = 1 << 1, FEATURE_VBAT = 1 << 1,
FEATURE_INFLIGHT_ACC_CAL = 1 << 2, FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
FEATURE_SERIALRX = 1 << 3, FEATURE_SERIALRX = 1 << 3,
FEATURE_MOTOR_STOP = 1 << 4, FEATURE_MOTOR_STOP = 1 << 4,
FEATURE_SERVO_TILT = 1 << 5, FEATURE_SERVO_TILT = 1 << 5,
FEATURE_GYRO_SMOOTHING = 1 << 6, FEATURE_GYRO_SMOOTHING = 1 << 6,
FEATURE_LED_RING = 1 << 7, FEATURE_LED_RING = 1 << 7,
FEATURE_GPS = 1 << 8, FEATURE_GPS = 1 << 8,
FEATURE_FAILSAFE = 1 << 9, FEATURE_FAILSAFE = 1 << 9,
FEATURE_SONAR = 1 << 10, FEATURE_SONAR = 1 << 10,
FEATURE_TELEMETRY = 1 << 11, FEATURE_TELEMETRY = 1 << 11,
FEATURE_POWERMETER = 1 << 12, FEATURE_POWERMETER = 1 << 12,
FEATURE_VARIO = 1 << 13, FEATURE_VARIO = 1 << 13,
FEATURE_3D = 1 << 14, FEATURE_3D = 1 << 14,
FEATURE_SOFTSERIAL = 1 << 15, FEATURE_SOFTSERIAL = 1 << 15,
} AvailableFeatures; } AvailableFeatures;
typedef enum { typedef enum {
@ -104,60 +104,63 @@ typedef enum {
} sensor_axis_e; } sensor_axis_e;
typedef enum { typedef enum {
ALIGN_DEFAULT = 0, // driver-provided alignment ALIGN_DEFAULT = 0, // driver-provided alignment
CW0_DEG = 1, CW0_DEG = 1,
CW90_DEG = 2, CW90_DEG = 2,
CW180_DEG = 3, CW180_DEG = 3,
CW270_DEG = 4, CW270_DEG = 4,
CW0_DEG_FLIP = 5, CW0_DEG_FLIP = 5,
CW90_DEG_FLIP = 6, CW90_DEG_FLIP = 6,
CW180_DEG_FLIP = 7, CW180_DEG_FLIP = 7,
CW270_DEG_FLIP = 8 CW270_DEG_FLIP = 8
} sensor_align_e; } sensor_align_e;
enum { enum {
GYRO_UPDATED = 1 << 0, GYRO_UPDATED = 1 << 0,
ACC_UPDATED = 1 << 1, ACC_UPDATED = 1 << 1,
MAG_UPDATED = 1 << 2, MAG_UPDATED = 1 << 2,
TEMP_UPDATED = 1 << 3 TEMP_UPDATED = 1 << 3
}; };
typedef struct sensor_data_t { typedef struct sensor_data_t
int16_t gyro[3]; {
int16_t acc[3]; int16_t gyro[3];
int16_t mag[3]; int16_t acc[3];
float temperature; int16_t mag[3];
int updated; float temperature;
int updated;
} sensor_data_t; } sensor_data_t;
typedef void (*sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype
typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef void (*baroOpFuncPtr)(void); // baro start operation typedef void (* baroOpFuncPtr)(void); // baro start operation
typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app
typedef uint16_t (*rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
typedef void (*pidControllerFuncPtr)(void); // pid controller function prototype typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype
typedef struct sensor_t { typedef struct sensor_t
sensorInitFuncPtr init; // initialize function {
sensorReadFuncPtr read; // read 3 axis data function sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr temperature; // read temperature if available sensorReadFuncPtr read; // read 3 axis data function
float scale; // scalefactor (currently used for gyro only, todo for accel) sensorReadFuncPtr temperature; // read temperature if available
float scale; // scalefactor (currently used for gyro only, todo for accel)
} sensor_t; } sensor_t;
typedef struct baro_t { typedef struct baro_t
uint16_t ut_delay; {
uint16_t up_delay; uint16_t ut_delay;
baroOpFuncPtr start_ut; uint16_t up_delay;
baroOpFuncPtr get_ut; baroOpFuncPtr start_ut;
baroOpFuncPtr start_up; baroOpFuncPtr get_ut;
baroOpFuncPtr get_up; baroOpFuncPtr start_up;
baroCalculateFuncPtr calculate; baroOpFuncPtr get_up;
baroCalculateFuncPtr calculate;
} baro_t; } baro_t;
// Hardware definitions and GPIO // Hardware definitions and GPIO
#ifdef FY90Q #ifdef FY90Q
// FY90Q // FY90Q
#define LED0_GPIO GPIOC #define LED0_GPIO GPIOC
#define LED0_PIN Pin_12 #define LED0_PIN Pin_12
#define LED1_GPIO GPIOA #define LED1_GPIO GPIOA
@ -178,6 +181,7 @@ typedef struct baro_t {
#define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow #define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
#define LED1_GPIO GPIOA #define LED1_GPIO GPIOA
#define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green #define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
#define GYRO #define GYRO
#define ACC #define ACC
@ -227,10 +231,11 @@ typedef struct baro_t {
#endif #endif
#undef SOFT_I2C // enable to test software i2c #undef SOFT_I2C // enable to test software i2c
#include "utils.h" #include "utils.h"
#ifdef FY90Q #ifdef FY90Q
// FY90Q // FY90Q
#include "drv_adc.h" #include "drv_adc.h"
#include "drv_i2c.h" #include "drv_i2c.h"
#include "drv_pwm.h" #include "drv_pwm.h"
@ -253,7 +258,7 @@ typedef struct baro_t {
#include "drv_softserial.h" #include "drv_softserial.h"
#else #else
// AfroFlight32 // AfroFlight32
#include "drv_adc.h" #include "drv_adc.h"
#include "drv_adxl345.h" #include "drv_adxl345.h"
#include "drv_bma280.h" #include "drv_bma280.h"

996
src/mixer.c
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@ -1,498 +1,498 @@
#include "board.h" #include "board.h"
#include "mw.h" #include "mw.h"
static uint8_t numberMotor = 0; static uint8_t numberMotor = 0;
int16_t motor[MAX_MOTORS]; int16_t motor[MAX_MOTORS];
int16_t motor_disarmed[MAX_MOTORS]; int16_t motor_disarmed[MAX_MOTORS];
int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
static motorMixer_t currentMixer[MAX_MOTORS]; static motorMixer_t currentMixer[MAX_MOTORS];
static const motorMixer_t mixerTri[] = { static const motorMixer_t mixerTri[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
}; };
static const motorMixer_t mixerQuadP[] = { static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT { 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
}; };
static const motorMixer_t mixerQuadX[] = { static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
}; };
static const motorMixer_t mixerBi[] = { static const motorMixer_t mixerBi[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
}; };
static const motorMixer_t mixerY6[] = { static const motorMixer_t mixerY6[] = {
{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
}; };
static const motorMixer_t mixerHex6P[] = { static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR
}; };
static const motorMixer_t mixerY4[] = { static const motorMixer_t mixerY4[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
}; };
static const motorMixer_t mixerHex6X[] = { static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT
}; };
static const motorMixer_t mixerOctoX8[] = { static const motorMixer_t mixerOctoX8[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R { 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R
{ 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R { 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R
{ 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L { 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L
{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L { 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
}; };
static const motorMixer_t mixerOctoFlatP[] = { static const motorMixer_t mixerOctoFlatP[] = {
{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
{ 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R { 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R
{ 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L { 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT { 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT
}; };
static const motorMixer_t mixerOctoFlatX[] = { static const motorMixer_t mixerOctoFlatX[] = {
{ 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L
{ 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R
{ 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R
{ 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L
}; };
static const motorMixer_t mixerVtail4[] = { static const motorMixer_t mixerVtail4[] = {
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
}; };
static const motorMixer_t mixerHex6H[] = { static const motorMixer_t mixerHex6H[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT { 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT
{ 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT { 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT
}; };
static const motorMixer_t mixerDualcopter[] = { static const motorMixer_t mixerDualcopter[] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
}; };
// Keep this synced with MultiType struct in mw.h! // Keep this synced with MultiType struct in mw.h!
const mixer_t mixers[] = { const mixer_t mixers[] = {
// Mo Se Mixtable // Mo Se Mixtable
{ 0, 0, NULL }, // entry 0 { 0, 0, NULL }, // entry 0
{ 3, 1, mixerTri }, // MULTITYPE_TRI { 3, 1, mixerTri }, // MULTITYPE_TRI
{ 4, 0, mixerQuadP }, // MULTITYPE_QUADP { 4, 0, mixerQuadP }, // MULTITYPE_QUADP
{ 4, 0, mixerQuadX }, // MULTITYPE_QUADX { 4, 0, mixerQuadX }, // MULTITYPE_QUADX
{ 2, 1, mixerBi }, // MULTITYPE_BI { 2, 1, mixerBi }, // MULTITYPE_BI
{ 0, 1, NULL }, // * MULTITYPE_GIMBAL { 0, 1, NULL }, // * MULTITYPE_GIMBAL
{ 6, 0, mixerY6 }, // MULTITYPE_Y6 { 6, 0, mixerY6 }, // MULTITYPE_Y6
{ 6, 0, mixerHex6P }, // MULTITYPE_HEX6 { 6, 0, mixerHex6P }, // MULTITYPE_HEX6
{ 1, 1, NULL }, // * MULTITYPE_FLYING_WING { 1, 1, NULL }, // * MULTITYPE_FLYING_WING
{ 4, 0, mixerY4 }, // MULTITYPE_Y4 { 4, 0, mixerY4 }, // MULTITYPE_Y4
{ 6, 0, mixerHex6X }, // MULTITYPE_HEX6X { 6, 0, mixerHex6X }, // MULTITYPE_HEX6X
{ 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8 { 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8
{ 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP { 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP
{ 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX { 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX
{ 1, 1, NULL }, // * MULTITYPE_AIRPLANE { 1, 1, NULL }, // * MULTITYPE_AIRPLANE
{ 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM { 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM
{ 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG { 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG
{ 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4 { 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4
{ 6, 0, mixerHex6H }, // MULTITYPE_HEX6H { 6, 0, mixerHex6H }, // MULTITYPE_HEX6H
{ 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER
{ 1, 1, NULL }, // MULTITYPE_SINGLECOPTER { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER
{ 0, 0, NULL }, // MULTITYPE_CUSTOM { 0, 0, NULL }, // MULTITYPE_CUSTOM
}; };
int16_t servoMiddle(int nr) int16_t servoMiddle(int nr)
{ {
// Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than // Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than
// the number of RC channels, it means the center value is taken FROM that RC channel (by its index) // the number of RC channels, it means the center value is taken FROM that RC channel (by its index)
if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS) if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS)
return rcData[cfg.servoConf[nr].middle]; return rcData[cfg.servoConf[nr].middle];
else else
return cfg.servoConf[nr].middle; return cfg.servoConf[nr].middle;
} }
int servoDirection(int nr, int lr) int servoDirection(int nr, int lr)
{ {
// servo.rate is overloaded for servos that don't have a rate, but only need direction // servo.rate is overloaded for servos that don't have a rate, but only need direction
// bit set = negative, clear = positive // bit set = negative, clear = positive
// rate[2] = ???_direction // rate[2] = ???_direction
// rate[1] = roll_direction // rate[1] = roll_direction
// rate[0] = pitch_direction // rate[0] = pitch_direction
// servo.rate is also used as gimbal gain multiplier (yeah) // servo.rate is also used as gimbal gain multiplier (yeah)
if (cfg.servoConf[nr].rate & lr) if (cfg.servoConf[nr].rate & lr)
return -1; return -1;
else else
return 1; return 1;
} }
void mixerInit(void) void mixerInit(void)
{ {
int i; int i;
// enable servos for mixes that require them. note, this shifts motor counts. // enable servos for mixes that require them. note, this shifts motor counts.
core.useServo = mixers[mcfg.mixerConfiguration].useServo; core.useServo = mixers[mcfg.mixerConfiguration].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't // if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT)) if (feature(FEATURE_SERVO_TILT))
core.useServo = 1; core.useServo = 1;
if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) { if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) {
// load custom mixer into currentMixer // load custom mixer into currentMixer
for (i = 0; i < MAX_MOTORS; i++) { for (i = 0; i < MAX_MOTORS; i++) {
// check if done // check if done
if (mcfg.customMixer[i].throttle == 0.0f) if (mcfg.customMixer[i].throttle == 0.0f)
break; break;
currentMixer[i] = mcfg.customMixer[i]; currentMixer[i] = mcfg.customMixer[i];
numberMotor++; numberMotor++;
} }
} else { } else {
numberMotor = mixers[mcfg.mixerConfiguration].numberMotor; numberMotor = mixers[mcfg.mixerConfiguration].numberMotor;
// copy motor-based mixers // copy motor-based mixers
if (mixers[mcfg.mixerConfiguration].motor) { if (mixers[mcfg.mixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++) for (i = 0; i < numberMotor; i++)
currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i]; currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i];
} }
} }
// in 3D mode, mixer gain has to be halved // in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
if (numberMotor > 1) { if (numberMotor > 1) {
for (i = 0; i < numberMotor; i++) { for (i = 0; i < numberMotor; i++) {
currentMixer[i].pitch *= 0.5f; currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f; currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f; currentMixer[i].yaw *= 0.5f;
} }
} }
} }
mixerResetMotors(); mixerResetMotors();
} }
void mixerResetMotors(void) void mixerResetMotors(void)
{ {
int i; int i;
// set disarmed motor values // set disarmed motor values
for (i = 0; i < MAX_MOTORS; i++) for (i = 0; i < MAX_MOTORS; i++)
motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
} }
void mixerLoadMix(int index) void mixerLoadMix(int index)
{ {
int i; int i;
// we're 1-based // we're 1-based
index++; index++;
// clear existing // clear existing
for (i = 0; i < MAX_MOTORS; i++) for (i = 0; i < MAX_MOTORS; i++)
mcfg.customMixer[i].throttle = 0.0f; mcfg.customMixer[i].throttle = 0.0f;
// do we have anything here to begin with? // do we have anything here to begin with?
if (mixers[index].motor != NULL) { if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].numberMotor; i++) for (i = 0; i < mixers[index].numberMotor; i++)
mcfg.customMixer[i] = mixers[index].motor[i]; mcfg.customMixer[i] = mixers[index].motor[i];
} }
} }
void writeServos(void) void writeServos(void)
{ {
if (!core.useServo) if (!core.useServo)
return; return;
switch (mcfg.mixerConfiguration) { switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI: case MULTITYPE_BI:
pwmWriteServo(0, servo[4]); pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]); pwmWriteServo(1, servo[5]);
break; break;
case MULTITYPE_TRI: case MULTITYPE_TRI:
if (cfg.tri_unarmed_servo) { if (cfg.tri_unarmed_servo) {
// if unarmed flag set, we always move servo // if unarmed flag set, we always move servo
pwmWriteServo(0, servo[5]); pwmWriteServo(0, servo[5]);
} else { } else {
// otherwise, only move servo when copter is armed // otherwise, only move servo when copter is armed
if (f.ARMED) if (f.ARMED)
pwmWriteServo(0, servo[5]); pwmWriteServo(0, servo[5]);
else else
pwmWriteServo(0, 0); // kill servo signal completely. pwmWriteServo(0, 0); // kill servo signal completely.
} }
break; break;
case MULTITYPE_FLYING_WING: case MULTITYPE_FLYING_WING:
pwmWriteServo(0, servo[3]); pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]); pwmWriteServo(1, servo[4]);
break; break;
case MULTITYPE_GIMBAL: case MULTITYPE_GIMBAL:
pwmWriteServo(0, servo[0]); pwmWriteServo(0, servo[0]);
pwmWriteServo(1, servo[1]); pwmWriteServo(1, servo[1]);
break; break;
case MULTITYPE_DUALCOPTER: case MULTITYPE_DUALCOPTER:
pwmWriteServo(0, servo[4]); pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]); pwmWriteServo(1, servo[5]);
break; break;
case MULTITYPE_AIRPLANE: case MULTITYPE_AIRPLANE:
case MULTITYPE_SINGLECOPTER: case MULTITYPE_SINGLECOPTER:
pwmWriteServo(0, servo[3]); pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]); pwmWriteServo(1, servo[4]);
pwmWriteServo(2, servo[5]); pwmWriteServo(2, servo[5]);
pwmWriteServo(3, servo[6]); pwmWriteServo(3, servo[6]);
break; break;
default: default:
// Two servos for SERVO_TILT, if enabled // Two servos for SERVO_TILT, if enabled
if (feature(FEATURE_SERVO_TILT)) { if (feature(FEATURE_SERVO_TILT)) {
pwmWriteServo(0, servo[0]); pwmWriteServo(0, servo[0]);
pwmWriteServo(1, servo[1]); pwmWriteServo(1, servo[1]);
} }
break; break;
} }
} }
extern uint8_t cliMode; extern uint8_t cliMode;
void writeMotors(void) void writeMotors(void)
{ {
uint8_t i; uint8_t i;
for (i = 0; i < numberMotor; i++) for (i = 0; i < numberMotor; i++)
pwmWriteMotor(i, motor[i]); pwmWriteMotor(i, motor[i]);
} }
void writeAllMotors(int16_t mc) void writeAllMotors(int16_t mc)
{ {
uint8_t i; uint8_t i;
// Sends commands to all motors // Sends commands to all motors
for (i = 0; i < numberMotor; i++) for (i = 0; i < numberMotor; i++)
motor[i] = mc; motor[i] = mc;
writeMotors(); writeMotors();
} }
static void airplaneMixer(void) static void airplaneMixer(void)
{ {
int16_t flapperons[2] = { 0, 0 }; int16_t flapperons[2] = { 0, 0 };
int i; int i;
if (!f.ARMED) if (!f.ARMED)
servo[7] = mcfg.mincommand; // Kill throttle when disarmed servo[7] = mcfg.mincommand; // Kill throttle when disarmed
else else
servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle);
motor[0] = servo[7]; motor[0] = servo[7];
#if 0 #if 0
if (cfg.flaperons) { if (cfg.flaperons) {
} }
#endif #endif
if (mcfg.flaps_speed) { if (mcfg.flaps_speed) {
// configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control
// use servo min, servo max and servo rate for proper endpoints adjust // use servo min, servo max and servo rate for proper endpoints adjust
static int16_t slow_LFlaps; static int16_t slow_LFlaps;
int16_t lFlap = servoMiddle(2); int16_t lFlap = servoMiddle(2);
lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max); lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max);
lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle? lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle?
if (slow_LFlaps < lFlap) if (slow_LFlaps < lFlap)
slow_LFlaps += mcfg.flaps_speed; slow_LFlaps += mcfg.flaps_speed;
else if (slow_LFlaps > lFlap) else if (slow_LFlaps > lFlap)
slow_LFlaps -= mcfg.flaps_speed; slow_LFlaps -= mcfg.flaps_speed;
servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L; servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L;
servo[2] += mcfg.midrc; servo[2] += mcfg.midrc;
} }
if (f.PASSTHRU_MODE) { // Direct passthru from RX if (f.PASSTHRU_MODE) { // Direct passthru from RX
servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1 servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1
servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2 servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2
servo[5] = rcCommand[YAW]; // Rudder servo[5] = rcCommand[YAW]; // Rudder
servo[6] = rcCommand[PITCH]; // Elevator servo[6] = rcCommand[PITCH]; // Elevator
} else { } else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1 servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1
servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2 servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2
servo[5] = axisPID[YAW]; // Rudder servo[5] = axisPID[YAW]; // Rudder
servo[6] = axisPID[PITCH]; // Elevator servo[6] = axisPID[PITCH]; // Elevator
} }
for (i = 3; i < 7; i++) { for (i = 3; i < 7; i++) {
servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates
servo[i] += servoMiddle(i); servo[i] += servoMiddle(i);
} }
} }
void mixTable(void) void mixTable(void)
{ {
int16_t maxMotor; int16_t maxMotor;
uint32_t i; uint32_t i;
if (numberMotor > 3) { if (numberMotor > 3) {
// prevent "yaw jump" during yaw correction // prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
} }
// motors for non-servo mixes // motors for non-servo mixes
if (numberMotor > 1) if (numberMotor > 1)
for (i = 0; i < numberMotor; i++) for (i = 0; i < numberMotor; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw; motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes // airplane / servo mixes
switch (mcfg.mixerConfiguration) { switch (mcfg.mixerConfiguration) {
case MULTITYPE_BI: case MULTITYPE_BI:
servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT
servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT
break; break;
case MULTITYPE_TRI: case MULTITYPE_TRI:
servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR
break; break;
case MULTITYPE_GIMBAL: case MULTITYPE_GIMBAL:
servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0); servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0);
servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1); servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1);
break; break;
case MULTITYPE_AIRPLANE: case MULTITYPE_AIRPLANE:
airplaneMixer(); airplaneMixer();
break; break;
case MULTITYPE_FLYING_WING: case MULTITYPE_FLYING_WING:
if (!f.ARMED) if (!f.ARMED)
servo[7] = mcfg.mincommand; servo[7] = mcfg.mincommand;
else else
servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle);
motor[0] = servo[7]; motor[0] = servo[7];
if (f.PASSTHRU_MODE) { if (f.PASSTHRU_MODE) {
// do not use sensors for correction, simple 2 channel mixing // do not use sensors for correction, simple 2 channel mixing
servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]); servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]);
servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]); servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]);
} else { } else {
// use sensors to correct (gyro only or gyro + acc) // use sensors to correct (gyro only or gyro + acc)
servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]); servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]);
servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]); servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]);
} }
servo[3] += servoMiddle(3); servo[3] += servoMiddle(3);
servo[4] += servoMiddle(4); servo[4] += servoMiddle(4);
break; break;
case MULTITYPE_DUALCOPTER: case MULTITYPE_DUALCOPTER:
for (i = 4; i < 6; i++ ) { for (i = 4; i < 6; i++ ) {
servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction
servo[i] += servoMiddle(i); servo[i] += servoMiddle(i);
} }
break; break;
case MULTITYPE_SINGLECOPTER: case MULTITYPE_SINGLECOPTER:
for (i = 3; i < 7; i++) { for (i = 3; i < 7; i++) {
servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction
servo[i] += servoMiddle(i); servo[i] += servoMiddle(i);
} }
motor[0] = rcCommand[THROTTLE]; motor[0] = rcCommand[THROTTLE];
break; break;
} }
// do camstab // do camstab
if (feature(FEATURE_SERVO_TILT)) { if (feature(FEATURE_SERVO_TILT)) {
// center at fixed position, or vary either pitch or roll by RC channel // center at fixed position, or vary either pitch or roll by RC channel
servo[0] = servoMiddle(0); servo[0] = servoMiddle(0);
servo[1] = servoMiddle(1); servo[1] = servoMiddle(1);
if (rcOptions[BOXCAMSTAB]) { if (rcOptions[BOXCAMSTAB]) {
if (cfg.gimbal_flags & GIMBAL_MIXTILT) { if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50;
} else { } else {
servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50; servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50;
servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50; servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50;
} }
} }
} }
// constrain servos // constrain servos
for (i = 0; i < MAX_SERVOS; i++) for (i = 0; i < MAX_SERVOS; i++)
servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values
// forward AUX1-4 to servo outputs (not constrained) // forward AUX1-4 to servo outputs (not constrained)
if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
int offset = 0; int offset = 0;
if (feature(FEATURE_SERVO_TILT)) if (feature(FEATURE_SERVO_TILT))
offset = 2; offset = 2;
for (i = 0; i < 4; i++) for (i = 0; i < 4; i++)
pwmWriteServo(i + offset, rcData[AUX1 + i]); pwmWriteServo(i + offset, rcData[AUX1 + i]);
} }
maxMotor = motor[0]; maxMotor = motor[0];
for (i = 1; i < numberMotor; i++) for (i = 1; i < numberMotor; i++)
if (motor[i] > maxMotor) if (motor[i] > maxMotor)
maxMotor = motor[i]; maxMotor = motor[i];
for (i = 0; i < numberMotor; i++) { for (i = 0; i < numberMotor; i++) {
if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max. if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - mcfg.maxthrottle; motor[i] -= maxMotor - mcfg.maxthrottle;
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > 1500) { if ((rcData[THROTTLE]) > 1500) {
motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle); motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle);
} else { } else {
motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low); motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low);
} }
} else { } else {
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle); motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) { if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP)) if (!feature(FEATURE_MOTOR_STOP))
motor[i] = mcfg.minthrottle; motor[i] = mcfg.minthrottle;
else else
motor[i] = mcfg.mincommand; motor[i] = mcfg.mincommand;
} }
} }
if (!f.ARMED) { if (!f.ARMED) {
motor[i] = motor_disarmed[i]; motor[i] = motor_disarmed[i];
} }
} }
} }