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

src/main/config/config.c

@@ -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
     );

src/main/config/config_master.h

@@ -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;
 

src/main/config/config_profile.h

@@ -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

src/main/flight/mixer.c

@@ -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;
                     }
                 }

src/main/flight/mixer.h

@@ -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

src/main/io/serial_cli.c

@@ -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 },
+    { "tri_unarmed_servo",          VAR_INT8   | PROFILE_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
-    { "servo_lowpass_freq",         VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
+    { "servo_lowpass_freq",         VAR_INT16  | PROFILE_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},
-    { "servo_lowpass_enable",       VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
+    { "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 },