Merge pull request #2754 from mikeller/make_direction_parameters_boolean

Changed direction parameters into boolean to ensure a direction is defined.

src/main/common/axis.h

@@ -40,3 +40,5 @@ typedef enum {
 } angle_index_t;
 
 #define ANGLE_INDEX_COUNT 2
+
+#define GET_DIRECTION(isInverted) (2 * (isInverted) - 1)

src/main/fc/cli.c

@@ -655,7 +655,7 @@ static const clivalue_t valueTable[] = {
 #endif
 
 // PG_MIXER_CONFIG
-    { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motor_direction) },
+    { "yaw_motors_reversed",        VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
 
 // PG_MOTOR_3D_CONFIG
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) }, // FIXME upper limit should match code in the mixer, 1500 currently
@@ -721,7 +721,7 @@ static const clivalue_t valueTable[] = {
 #endif
 
 // PG_AIRPLANE_CONFIG
-    { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_AIRPLANE_CONFIG, offsetof(airplaneConfig_t, fixedwing_althold_dir) },
+    { "fixedwing_althold_reversed", VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_AIRPLANE_CONFIG, offsetof(airplaneConfig_t, fixedwing_althold_reversed) },
 
 // PG_RC_CONTROLS_CONFIG
     { "alt_hold_deadband",          VAR_UINT8  | MASTER_VALUE, .config.minmax = { 1, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },

src/main/fc/config.c

@@ -642,7 +642,7 @@ void createDefaultConfig(master_t *config)
     config->armingConfig.disarm_kill_switch = 1;
     config->armingConfig.auto_disarm_delay = 5;
 
-    config->airplaneConfig.fixedwing_althold_dir = 1;
+    config->airplaneConfig.fixedwing_althold_reversed = false;
 
     // Motor/ESC/Servo
     resetMixerConfig(&config->mixerConfig);

src/main/fc/fc_core.c

@@ -273,7 +273,7 @@ void updateMagHold(void)
             dif += 360;
         if (dif >= +180)
             dif -= 360;
-        dif *= -GET_YAW_DIRECTION(rcControlsConfig()->yaw_control_reversed);
+        dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);
         if (STATE(SMALL_ANGLE))
             rcCommand[YAW] -= dif * currentPidProfile->P8[PIDMAG] / 30;    // 18 deg
     } else

src/main/fc/fc_rc.c

@@ -284,7 +284,7 @@ void updateRcCommands(void)
             } else {
                 tmp = 0;
             }
-            rcCommand[axis] = tmp * -GET_YAW_DIRECTION(rcControlsConfig()->yaw_control_reversed);
+            rcCommand[axis] = tmp * -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);
         }
         if (rcData[axis] < rxConfig()->midrc) {
             rcCommand[axis] = -rcCommand[axis];

src/main/fc/rc_controls.h

@@ -158,12 +158,11 @@ typedef struct rcControlsConfig_s {
     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
     uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
     uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
-    int8_t yaw_control_reversed;            // invert control direction of yaw
+    bool yaw_control_reversed;            // invert control direction of yaw
 } rcControlsConfig_t;
 
 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 
-#define GET_YAW_DIRECTION(isInverted) (2 * (isInverted) - 1)
 typedef struct flight3DConfig_s {
     uint16_t deadband3d_low;                // min 3d value
     uint16_t deadband3d_high;               // max 3d value

src/main/flight/altitudehold.c

@@ -47,7 +47,7 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(airplaneConfig_t, airplaneConfig, PG_AIRPLANE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(airplaneConfig_t, airplaneConfig,
-    .fixedwing_althold_dir = 1
+    .fixedwing_althold_reversed = false
 );
 
 int32_t setVelocity = 0;
@@ -114,7 +114,7 @@ static void applyFixedWingAltHold(void)
     // most likely need to check changes on pitch channel and 'reset' althold similar to
     // how throttle does it on multirotor
 
-    rcCommand[PITCH] += altHoldThrottleAdjustment * airplaneConfig()->fixedwing_althold_dir;
+    rcCommand[PITCH] += altHoldThrottleAdjustment * GET_DIRECTION(airplaneConfig()->fixedwing_althold_reversed);
 }
 
 void applyAltHold(void)

src/main/flight/altitudehold.h

@@ -23,7 +23,7 @@ extern int32_t AltHold;
 extern int32_t vario;
 
 typedef struct airplaneConfig_s {
-    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
+    bool fixedwing_althold_reversed;           // false for negative pitch/althold gain. later check if need more than just sign
 } airplaneConfig_t;
 
 PG_DECLARE(airplaneConfig_t, airplaneConfig);

src/main/flight/mixer.c

@@ -67,7 +67,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 #endif
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .mixerMode = TARGET_DEFAULT_MIXER,
-    .yaw_motor_direction = 1,
+    .yaw_motors_reversed = false,
 );
 
 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
@@ -530,7 +530,7 @@ void mixTable(pidProfile_t *pidProfile)
         motorMix[i] =
             scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
             scaledAxisPIDf[ROLL]  * currentMixer[i].roll +
-            scaledAxisPIDf[YAW]   * currentMixer[i].yaw * (-mixerConfig()->yaw_motor_direction);
+            scaledAxisPIDf[YAW]   * currentMixer[i].yaw * -GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
 
         if (vbatCompensationFactor > 1.0f) {
             motorMix[i] *= vbatCompensationFactor;  // Add voltage compensation

src/main/flight/mixer.h

@@ -100,7 +100,7 @@ typedef struct mixer_s {
 
 typedef struct mixerConfig_s {
     uint8_t mixerMode;
-    int8_t yaw_motor_direction;
+    bool yaw_motors_reversed;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);