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Added servo and gimbl config macros

This commit is contained in:
Martin Budden 2016-11-30 16:57:36 +00:00
parent dc9e773b02
commit c97282e21d
3 changed files with 11 additions and 8 deletions
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3
src/main/config/config_master.h
View File

@ -63,6 +63,9 @@
#define motorConfig(x) (&masterConfig.motorConfig)
#define flight3DConfig(x) (&masterConfig.flight3DConfig)
#define servoConfig(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define gimbalConfig(x) (&masterConfig.gimbalConfig)
// System-wide
typedef struct master_s {

2
src/main/fc/mw.c
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@ -733,7 +733,7 @@ void subTaskMainSubprocesses(void)
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((masterConfig.mixerConfig.mixerMode == MIXER_TRI || masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
&& !((masterConfig.mixerConfig.mixerMode == MIXER_TRI || masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_TRI) && servoMixerConfig()->tri_unarmed_servo)
#endif
&& masterConfig.mixerConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerConfig.mixerMode != MIXER_FLYING_WING

14
src/main/io/serial_cli.c
View File

@ -837,12 +837,12 @@ const clivalue_t valueTable[] = {
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
#ifdef USE_SERVOS
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoMixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoPwmRate, .config.minmax = { 50, 498 } },
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &servoMixerConfig()->servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 } },
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
#endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },
@ -3792,7 +3792,7 @@ const cliResourceValue_t resourceTable[] = {
#endif
{ OWNER_MOTOR, &motorConfig()->ioTags[0], MAX_SUPPORTED_MOTORS },
#ifdef USE_SERVOS
{ OWNER_SERVO, &masterConfig.servoConfig.ioTags[0], MAX_SUPPORTED_SERVOS },
{ OWNER_SERVO, &servoConfig()->ioTags[0], MAX_SUPPORTED_SERVOS },
#endif
#if defined(USE_PWM) || defined(USE_PPM)
{ OWNER_PPMINPUT, &masterConfig.ppmConfig.ioTag, 0 },