moving towards custom mixer table and proper fixedwing mixer.
refactored all of mixer.c to use tables instead of hardcoded mix. custom mixer is stored in flash, but currently has no UI to configure it. do not choose mixer CUSTOM in console. hover-tested QUADX, if upgrading anything else, please carefully check motor response first, preferably without props on heavy models. tec git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@206 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
fef43457c0
commit
98cba890e1
5355
obj/baseflight.hex
5355
obj/baseflight.hex
File diff suppressed because it is too large
Load Diff
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@ -13,7 +13,7 @@ config_t cfg;
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const char rcChannelLetters[] = "AERT1234";
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static uint32_t enabledSensors = 0;
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uint8_t checkNewConf = 27;
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uint8_t checkNewConf = 28;
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void parseRcChannels(const char *input)
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{
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@ -196,6 +196,10 @@ void checkFirstTime(bool reset)
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// serial (USART1) baudrate
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cfg.serial_baudrate = 115200;
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// custom mixer
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for (i = 0; i < MAX_MOTORS; i++)
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cfg.customMixer[i].throttle = 0.0f;
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writeParams(0);
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}
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307
src/mixer.c
307
src/mixer.c
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@ -1,78 +1,162 @@
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#include "board.h"
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#include "mw.h"
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static uint8_t numberMotor = 4;
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static uint8_t numberMotor = 0;
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uint8_t useServo = 0;
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int16_t motor[MAX_MOTORS];
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int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
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typedef struct {
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uint8_t enabled; // is this mix channel enabled
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float throttle; // proportion of throttle affect
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float pitch;
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float roll;
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float yaw;
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} mixerPower_t;
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static motorMixer_t currentMixer[MAX_MOTORS];
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static mixerPower_t customMixer[12];
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static const motorMixer_t mixerTri[] = {
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{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
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{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
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{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
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};
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static const motorMixer_t mixerQuadP[] = {
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
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{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
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{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
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};
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static const motorMixer_t mixerQuadX[] = {
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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};
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static const motorMixer_t mixerBi[] = {
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{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
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{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
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};
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static const motorMixer_t mixerY6[] = {
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{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
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{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
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{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
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{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
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{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
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{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
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};
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static const motorMixer_t mixerHex6P[] = {
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{ 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R
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{ 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L
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{ 1.0f, 0.0f, 0.866025f, 1.0f }, // FRONT
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{ 1.0f, 0.0f, -0.866025f, -1.0f }, // REAR
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};
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static const motorMixer_t mixerY4[] = {
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
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{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
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{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
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{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
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};
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static const motorMixer_t mixerHex6X[] = {
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{ 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R
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{ 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L
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{ 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT
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{ 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT
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};
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static const motorMixer_t mixerOctoX8[] = {
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R
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{ 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R
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{ 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L
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{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
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};
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static const motorMixer_t mixerOctoFlatP[] = {
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{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
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{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
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{ 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R
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{ 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L
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{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
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{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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{ 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT
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};
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static const motorMixer_t mixerOctoFlatX[] = {
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{ 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L
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{ 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R
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{ 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R
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{ 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L
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};
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static const motorMixer_t mixerVtail4[] = {
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{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
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};
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// Keep this synced with MultiType struct in mw.h!
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static const mixer_t mixers[] = {
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// Mo Se Mixtable
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{ 0, 0, NULL }, // entry 0
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{ 3, 1, mixerTri }, // MULTITYPE_TRI
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{ 4, 0, mixerQuadP }, // MULTITYPE_QUADP
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{ 4, 0, mixerQuadX }, // MULTITYPE_QUADX
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{ 2, 1, mixerBi }, // MULTITYPE_BI
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{ 0, 1, NULL }, // * MULTITYPE_GIMBAL
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{ 6, 0, mixerY6 }, // MULTITYPE_Y6
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{ 6, 0, mixerHex6P }, // MULTITYPE_HEX6
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{ 1, 1, NULL }, // * MULTITYPE_FLYING_WING
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{ 4, 0, mixerY4 }, // MULTITYPE_Y4
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{ 6, 0, mixerHex6X }, // MULTITYPE_HEX6X
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{ 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8
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{ 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP
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{ 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX
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{ 1, 1, NULL }, // * MULTITYPE_AIRPLANE
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{ 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM
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{ 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG
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{ 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4
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{ 0, 0, NULL }, // MULTITYPE_CUSTOM
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};
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void mixerInit(void)
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{
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int i;
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// enable servos for mixes that require them. note, this shifts motor counts.
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if (cfg.mixerConfiguration == MULTITYPE_BI || cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_FLYING_WING ||
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cfg.mixerConfiguration == MULTITYPE_AIRPLANE || cfg.mixerConfiguration == MULTITYPE_GIMBAL)
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useServo = 1;
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// if we want camstab/trig, that also enabled servos. this is kinda lame. maybe rework feature bits later.
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useServo = mixers[cfg.mixerConfiguration].useServo;
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// if we want camstab/trig, that also enables servos, even if mixer doesn't
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if (feature(FEATURE_SERVO_TILT))
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useServo = 1;
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switch (cfg.mixerConfiguration) {
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case MULTITYPE_GIMBAL:
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numberMotor = 0;
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break;
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case MULTITYPE_AIRPLANE:
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case MULTITYPE_FLYING_WING:
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numberMotor = 1;
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break;
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case MULTITYPE_BI:
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numberMotor = 2;
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break;
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case MULTITYPE_TRI:
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numberMotor = 3;
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break;
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case MULTITYPE_QUADP:
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case MULTITYPE_QUADX:
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case MULTITYPE_Y4:
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case MULTITYPE_VTAIL4:
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numberMotor = 4;
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break;
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case MULTITYPE_Y6:
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case MULTITYPE_HEX6:
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case MULTITYPE_HEX6X:
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numberMotor = 6;
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break;
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case MULTITYPE_OCTOX8:
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case MULTITYPE_OCTOFLATP:
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case MULTITYPE_OCTOFLATX:
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numberMotor = 8;
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break;
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case MULTITYPE_CUSTOM:
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numberMotor = 0;
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for (i = 0; i < MAX_MOTORS; i++) {
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if (customMixer[i].enabled)
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numberMotor++;
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}
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break;
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if (cfg.mixerConfiguration == MULTITYPE_CUSTOM) {
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// load custom mixer into currentMixer
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for (i = 0; i < MAX_MOTORS; i++) {
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// check if done
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if (cfg.customMixer[i].throttle == 0.0f)
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break;
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currentMixer[i] = cfg.customMixer[i];
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numberMotor++;
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}
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} else {
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numberMotor = mixers[cfg.mixerConfiguration].numberMotor;
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// copy motor-based mixers
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if (mixers[cfg.mixerConfiguration].motor) {
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for (i = 0; i < numberMotor; i++)
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currentMixer[i] = mixers[cfg.mixerConfiguration].motor[i];
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}
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}
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}
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@ -99,6 +183,11 @@ void writeServos(void)
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break;
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case MULTITYPE_GIMBAL:
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pwmWriteServo(0, servo[0]);
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pwmWriteServo(1, servo[1]);
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break;
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default:
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// Two servos for SERVO_TILT, if enabled
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if (feature(FEATURE_SERVO_TILT)) {
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@ -129,8 +218,6 @@ void writeAllMotors(int16_t mc)
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writeMotors();
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}
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#define PIDMIX(R, P, Y) rcCommand[THROTTLE] + axisPID[ROLL] * R + axisPID[PITCH] * P + cfg.yaw_direction * axisPID[YAW] * Y
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static void airplaneMixer(void)
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{
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#if 0
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@ -191,110 +278,22 @@ void mixTable(void)
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axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
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}
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switch (cfg.mixerConfiguration) {
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// motors for non-servo mixes
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if (numberMotor > 1)
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for (i = 0; i < numberMotor; i++)
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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;
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// airplane / servo mixes
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switch (cfg.mixerConfiguration) {
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case MULTITYPE_BI:
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motor[0] = PIDMIX(+1, 0, 0); //LEFT
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motor[1] = PIDMIX(-1, 0, 0); //RIGHT
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servo[4] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
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servo[5] = constrain(1500 + (cfg.yaw_direction * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
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break;
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case MULTITYPE_TRI:
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motor[0] = PIDMIX(0, +4 / 3, 0); //REAR
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motor[1] = PIDMIX(-1, -2 / 3, 0); //RIGHT
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motor[2] = PIDMIX(+1, -2 / 3, 0); //LEFT
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servo[5] = constrain(cfg.tri_yaw_middle + cfg.yaw_direction * axisPID[YAW], cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
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break;
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case MULTITYPE_QUADP:
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motor[0] = PIDMIX(0, +1, -1); //REAR
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motor[1] = PIDMIX(-1, 0, +1); //RIGHT
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motor[2] = PIDMIX(+1, 0, +1); //LEFT
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motor[3] = PIDMIX(0, -1, -1); //FRONT
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break;
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case MULTITYPE_QUADX:
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motor[0] = PIDMIX(-1, +1, -1); //REAR_R
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motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
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motor[2] = PIDMIX(+1, +1, +1); //REAR_L
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motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
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break;
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case MULTITYPE_Y4:
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motor[0] = PIDMIX(+0, +1, -1); //REAR_1 CW
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motor[1] = PIDMIX(-1, -1, 0); //FRONT_R CCW
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motor[2] = PIDMIX(+0, +1, +1); //REAR_2 CCW
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motor[3] = PIDMIX(+1, -1, 0); //FRONT_L CW
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break;
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case MULTITYPE_Y6:
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motor[0] = PIDMIX(+0, +4 / 3, +1); //REAR
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motor[1] = PIDMIX(-1, -2 / 3, -1); //RIGHT
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motor[2] = PIDMIX(+1, -2 / 3, -1); //LEFT
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motor[3] = PIDMIX(+0, +4 / 3, -1); //UNDER_REAR
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motor[4] = PIDMIX(-1, -2 / 3, +1); //UNDER_RIGHT
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motor[5] = PIDMIX(+1, -2 / 3, +1); //UNDER_LEFT
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break;
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case MULTITYPE_HEX6:
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motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
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motor[1] = PIDMIX(-1 / 2, -1 / 2, -1); //FRONT_R
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motor[2] = PIDMIX(+1 / 2, +1 / 2, +1); //REAR_L
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motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
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motor[4] = PIDMIX(+0, -1, +1); //FRONT
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motor[5] = PIDMIX(+0, +1, -1); //REAR
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break;
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case MULTITYPE_HEX6X:
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motor[0] = PIDMIX(-4/5,+9/10,+1); //REAR_R
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motor[1] = PIDMIX(-4/5,-9/10,+1); //FRONT_R
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motor[2] = PIDMIX(+4/5,+9/10,-1); //REAR_L
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motor[3] = PIDMIX(+4/5,-9/10,-1); //FRONT_L
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motor[4] = PIDMIX(-4/5 ,+0 ,-1); //RIGHT
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motor[5] = PIDMIX(+4/5 ,+0 ,+1); //LEFT
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break;
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case MULTITYPE_OCTOX8:
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motor[0] = PIDMIX(-1, +1, -1); //REAR_R
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motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
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motor[2] = PIDMIX(+1, +1, +1); //REAR_L
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motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
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motor[4] = PIDMIX(-1, +1, +1); //UNDER_REAR_R
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motor[5] = PIDMIX(-1, -1, -1); //UNDER_FRONT_R
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motor[6] = PIDMIX(+1, +1, -1); //UNDER_REAR_L
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motor[7] = PIDMIX(+1, -1, +1); //UNDER_FRONT_L
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break;
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case MULTITYPE_OCTOFLATP:
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motor[0] = PIDMIX(+7 / 10, -7 / 10, +1); //FRONT_L
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||||
motor[1] = PIDMIX(-7 / 10, -7 / 10, +1); //FRONT_R
|
||||
motor[2] = PIDMIX(-7 / 10, +7 / 10, +1); //REAR_R
|
||||
motor[3] = PIDMIX(+7 / 10, +7 / 10, +1); //REAR_L
|
||||
motor[4] = PIDMIX(+0, -1, -1); //FRONT
|
||||
motor[5] = PIDMIX(-1, +0, -1); //RIGHT
|
||||
motor[6] = PIDMIX(+0, +1, -1); //REAR
|
||||
motor[7] = PIDMIX(+1, +0, -1); //LEFT
|
||||
break;
|
||||
|
||||
case MULTITYPE_OCTOFLATX:
|
||||
motor[0] = PIDMIX(+1, -1 / 2, +1); //MIDFRONT_L
|
||||
motor[1] = PIDMIX(-1 / 2, -1, +1); //FRONT_R
|
||||
motor[2] = PIDMIX(-1, +1 / 2, +1); //MIDREAR_R
|
||||
motor[3] = PIDMIX(+1 / 2, +1, +1); //REAR_L
|
||||
motor[4] = PIDMIX(+1 / 2, -1, -1); //FRONT_L
|
||||
motor[5] = PIDMIX(-1, -1 / 2, -1); //MIDFRONT_R
|
||||
motor[6] = PIDMIX(-1 / 2, +1, -1); //REAR_R
|
||||
motor[7] = PIDMIX(+1, +1 / 2, -1); //MIDREAR_L
|
||||
break;
|
||||
|
||||
case MULTITYPE_VTAIL4:
|
||||
motor[0] = PIDMIX(+0, +1, +1); //REAR_R
|
||||
motor[1] = PIDMIX(-1, -1, +0); //FRONT_R
|
||||
motor[2] = PIDMIX(+0, +1, -1); //REAR_L
|
||||
motor[3] = PIDMIX(+1, -1, -0); //FRONT_L
|
||||
break;
|
||||
|
||||
case MULTITYPE_GIMBAL:
|
||||
servo[0] = constrain(cfg.gimbal_pitch_mid + cfg.gimbal_pitch_gain * angle[PITCH] / 16 + rcCommand[PITCH], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
|
||||
servo[1] = constrain(cfg.gimbal_roll_mid + cfg.gimbal_roll_gain * angle[ROLL] / 16 + rcCommand[ROLL], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
|
||||
|
|
|
|||
17
src/mw.h
17
src/mw.h
|
|
@ -89,6 +89,19 @@ typedef enum GimbalFlags {
|
|||
#define abs(x) ((x) > 0 ? (x) : -(x))
|
||||
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
|
||||
|
||||
typedef struct motorMixer_t {
|
||||
float throttle;
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
} motorMixer_t;
|
||||
|
||||
typedef struct mixer_t {
|
||||
uint8_t numberMotor;
|
||||
uint8_t useServo;
|
||||
const motorMixer_t *motor;
|
||||
} mixer_t;
|
||||
|
||||
typedef struct config_t {
|
||||
uint8_t version;
|
||||
uint8_t mixerConfiguration;
|
||||
|
|
@ -179,8 +192,10 @@ typedef struct config_t {
|
|||
uint16_t nav_speed_min; // cm/sec
|
||||
uint16_t nav_speed_max; // cm/sec
|
||||
|
||||
// serial(uart1) baudrate
|
||||
// serial(uart1) baudrate
|
||||
uint32_t serial_baudrate;
|
||||
|
||||
motorMixer_t customMixer[MAX_MOTORS]; // custom mixtable
|
||||
} config_t;
|
||||
|
||||
typedef struct flags_t {
|
||||
|
|
|
|||
Loading…
Reference in New Issue