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Moving mixer config out of the profile. It doesn't really make sense.

This commit is contained in:
Dominic Clifton 2015-03-09 23:00:22 +00:00
parent ed434fe47b
commit 4a12d00d1e
6 changed files with 25 additions and 34 deletions
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21
src/main/config/config.c
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@ -119,7 +119,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 93;
static const uint8_t EEPROM_CONF_VERSION = 94;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -293,6 +293,16 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
rcControlsConfig->alt_hold_fast_change = 1;
}
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->pid_at_min_throttle = 1;
mixerConfig->yaw_direction = 1;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;
mixerConfig->servo_lowpass_enable = 0;
#endif
}
uint8_t getCurrentProfile(void)
{
return masterConfig.current_profile_index;
@ -378,8 +388,8 @@ static void resetConf(void)
masterConfig.disarm_kill_switch = 1;
masterConfig.auto_disarm_delay = 5;
masterConfig.small_angle = 25;
masterConfig.pid_at_min_throttle = 1;
resetMixerConfig(&masterConfig.mixerConfig);
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
@ -452,11 +462,6 @@ static void resetConf(void)
currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.servo_lowpass_freq = 400;
currentProfile->mixerConfig.servo_lowpass_enable = 0;
// gimbal
currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
#endif
@ -648,7 +653,7 @@ void activateConfig(void)
#endif
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile->mixerConfig,
&masterConfig.mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig
);

4
src/main/config/config_master.h
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@ -65,7 +65,9 @@ typedef struct master_t {
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
uint8_t small_angle;
uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle
// mixer-related configuration
mixerConfig_t mixerConfig;
airplaneConfig_t airplaneConfig;

3
src/main/config/config_profile.h
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@ -57,9 +57,6 @@ typedef struct profile_s {
// Failsafe related configuration
failsafeConfig_t failsafeConfig;
// mixer-related configuration
mixerConfig_t mixerConfig;
#ifdef GPS
gpsProfile_t gpsProfile;
#endif

18
src/main/flight/mixer.c
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@ -25,17 +25,14 @@
#include "common/axis.h"
#include "common/maths.h"
#include "common/color.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h"
#include "drivers/pwm_rx.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/serial.h"
#include "drivers/system.h"
#include "rx/rx.h"
@ -43,30 +40,17 @@
#include "io/gimbal.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/gps.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "sensors/barometer.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/lowpass.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "telemetry/telemetry.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#define GIMBAL_SERVO_PITCH 0
#define GIMBAL_SERVO_ROLL 1
@ -718,7 +702,7 @@ void mixTable(void)
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (masterConfig.pid_at_min_throttle == 0) {
} else if (mixerConfig->pid_at_min_throttle == 0) {
motor[i] = escAndServoConfig->minthrottle;
}
}

1
src/main/flight/mixer.h
View File

@ -64,6 +64,7 @@ typedef struct mixer_t {
} mixer_t;
typedef struct mixerConfig_s {
uint8_t pid_at_min_throttle; // when enabled pids are used at minimum throttle
int8_t yaw_direction;
#ifdef USE_SERVOS
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed

12
src/main/io/serial_cli.c
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@ -274,7 +274,6 @@ const clivalue_t valueTable[] = {
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 },
{ "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 },
{ "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_at_min_throttle, 0, 1 },
{ "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 },
@ -382,12 +381,15 @@ const clivalue_t valueTable[] = {
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
{ "pid_at_min_throttle", VAR_UINT8 | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
#ifdef USE_SERVOS
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_enable, 0, 1 },
#endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },