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Use motorCount from mixer.c instead of determine motor count again

This commit is contained in:
Bas Delfos 2016-11-17 22:02:51 +01:00
parent 0df4c63132
commit bc1109c546
3 changed files with 9 additions and 10 deletions
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4
src/main/flight/mixer.c
View File

@ -240,6 +240,10 @@ static motorMixer_t *customMixers;
static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, deadbandMotor3dHigh, deadbandMotor3dLow;
static float rcCommandThrottleRange;
uint8_t getMotorCount() {
return motorCount;
}
bool isMotorProtocolDshot(void) {
#ifdef USE_DSHOT
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)

2
src/main/flight/mixer.h
View File

@ -115,6 +115,8 @@ extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
struct motorConfig_s;
struct rxConfig_s;
uint8_t getMotorCount();
void mixerUseConfigs(
flight3DConfig_t *flight3DConfigToUse,
struct motorConfig_s *motorConfigToUse,

13
src/main/telemetry/esc_telemetry.c
View File

@ -90,7 +90,6 @@ static serialPort_t *escTelemetryPort = NULL;
static esc_telemetry_t escTelemetryData[MAX_SUPPORTED_MOTORS];
static uint32_t escTriggerTimestamp = -1;
static uint32_t escTriggerLastTimestamp = -1;
static uint8_t enabledMotorCount;
static uint8_t timeoutRetryCount = 0;
static uint8_t escTelemetryMotor = 0; // motor index
@ -142,12 +141,6 @@ bool escTelemetryInit(void)
escTelemetryEnabled = true;
masterConfig.batteryConfig.currentMeterType = CURRENT_SENSOR_ESC;
masterConfig.batteryConfig.batteryMeterType = BATTERY_SENSOR_ESC;
//Determine number of enabled motors
enabledMotorCount = 0;
while(enabledMotorCount < MAX_SUPPORTED_MOTORS && pwmGetMotors()[enabledMotorCount].enabled) {
enabledMotorCount++;
}
}
return escTelemetryPort != NULL;
@ -254,12 +247,12 @@ void escTelemetryProcess(uint32_t currentTime)
if (state == ESC_TLM_FRAME_COMPLETE) {
// Wait until all ESCs are processed
if (escTelemetryMotor == enabledMotorCount-1) {
if (escTelemetryMotor == getMotorCount()-1) {
escCurrent = 0;
escConsumption = 0;
escVbat = 0;
for (int i = 0; i < enabledMotorCount; i++) {
for (int i = 0; i < getMotorCount(); i++) {
if (!escTelemetryData[i].skipped) {
escVbat = i > 0 ? ((escVbat + escTelemetryData[i].voltage) / 2) : escTelemetryData[i].voltage;
escCurrent = escCurrent + escTelemetryData[i].current;
@ -288,7 +281,7 @@ void escTelemetryProcess(uint32_t currentTime)
static void selectNextMotor(void)
{
escTelemetryMotor++;
if (escTelemetryMotor == enabledMotorCount) {
if (escTelemetryMotor == getMotorCount()) {
escTelemetryMotor = 0;
}
escTriggerTimestamp = millis();