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Removed a number of static config pointers

This commit is contained in:
Martin Budden 2017-02-02 10:41:19 +00:00
parent 80700c2158
commit f6c8319361
23 changed files with 81 additions and 113 deletions
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4
src/main/common/maths.h
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@ -30,6 +30,10 @@
#define M_PIf 3.14159265358979323846f
#define RAD (M_PIf / 180.0f)
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
#define DEGREES_TO_RADIANS(angle) ((angle) * 0.0174532925f)
#define MIN(a, b) ((a) < (b) ? (a) : (b))
#define MAX(a, b) ((a) > (b) ? (a) : (b))

2
src/main/config/config_master.h
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@ -325,7 +325,5 @@ typedef struct master_s {
} master_t;
extern master_t masterConfig;
extern profile_t *currentProfile;
extern controlRateConfig_t *currentControlRateProfile;
void createDefaultConfig(master_t *config);

2
src/main/drivers/light_led.c
View File

@ -25,7 +25,7 @@
static IO_t leds[LED_NUMBER];
static uint8_t ledPolarity = 0;
void ledInit(statusLedConfig_t *statusLedConfig)
void ledInit(const statusLedConfig_t *statusLedConfig)
{
LED0_OFF;
LED1_OFF;

5
src/main/drivers/light_led.h
View File

@ -17,6 +17,7 @@
#pragma once
#include "config/parameter_group.h"
#include "drivers/io_types.h"
#define LED_NUMBER 3
@ -26,6 +27,8 @@ typedef struct statusLedConfig_s {
uint8_t polarity;
} statusLedConfig_t;
PG_DECLARE(statusLedConfig_t, statusLedConfig);
// Helpful macros
#ifdef LED0
# define LED0_TOGGLE ledToggle(0)
@ -57,6 +60,6 @@ typedef struct statusLedConfig_s {
# define LED2_ON do {} while(0)
#endif
void ledInit(statusLedConfig_t *statusLedConfig);
void ledInit(const statusLedConfig_t *statusLedConfig);
void ledToggle(int led);
void ledSet(int led, bool state);

8
src/main/fc/config.c
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@ -892,7 +892,6 @@ void activateConfig(void)
useRcControlsConfig(
modeActivationProfile()->modeActivationConditions,
&masterConfig.motorConfig,
&currentProfile->pidProfile
);
@ -918,12 +917,7 @@ void activateConfig(void)
throttleCorrectionConfig()->throttle_correction_angle
);
configureAltitudeHold(
&currentProfile->pidProfile,
&masterConfig.barometerConfig,
&masterConfig.rcControlsConfig,
&masterConfig.motorConfig
);
configureAltitudeHold(&currentProfile->pidProfile);
}
void validateAndFixConfig(void)

4
src/main/fc/config.h
View File

@ -66,6 +66,10 @@ typedef struct systemConfig_s {
} systemConfig_t;
//!!TODOPG_DECLARE(systemConfig_t, systemConfig);
struct profile_s;
extern struct profile_s *currentProfile;
struct controlRateConfig_s;
extern struct controlRateConfig_s *currentControlRateProfile;
void beeperOffSet(uint32_t mask);
void beeperOffSetAll(uint8_t beeperCount);

11
src/main/fc/fc_core.c
View File

@ -24,10 +24,10 @@
#include "blackbox/blackbox.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/utils.h"
#include "common/filter.h"
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
@ -72,6 +72,7 @@
#include "flight/pid.h"
#include "flight/failsafe.h"
#include "flight/altitudehold.h"
#include "flight/imu.h"
// June 2013 V2.2-dev
@ -296,7 +297,7 @@ void processRx(timeUs_t currentTimeUs)
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
const throttleStatus_e throttleStatus = calculateThrottleStatus();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcCommand[THROTTLE] >= rxConfig()->airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
@ -362,7 +363,7 @@ void processRx(timeUs_t currentTimeUs)
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, armingConfig()->disarm_kill_switch);
processRcStickPositions(rxConfig(), throttleStatus, armingConfig()->disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
@ -493,7 +494,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
applyAltHold();
}
}
#endif

2
src/main/fc/fc_init.c
View File

@ -443,7 +443,7 @@ void init(void)
cliInit(serialConfig());
#endif
failsafeInit(flight3DConfig()->deadband3d_throttle);
failsafeInit();
rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);

2
src/main/fc/fc_msp.c
View File

@ -1353,7 +1353,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
mac->range.startStep = sbufReadU8(src);
mac->range.endStep = sbufReadU8(src);
useRcControlsConfig(modeActivationConditions(0), motorConfig(), &currentProfile->pidProfile);
useRcControlsConfig(modeActivationConditions(0), &currentProfile->pidProfile);
} else {
return MSP_RESULT_ERROR;
}

2
src/main/fc/fc_tasks.c
View File

@ -131,7 +131,7 @@ static void taskUpdateBattery(timeUs_t currentTimeUs)
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTimeUs;
updateCurrentMeter(ibatTimeSinceLastServiced, rxConfig(), flight3DConfig()->deadband3d_throttle);
updateCurrentMeter(ibatTimeSinceLastServiced);
}
}
}

10
src/main/fc/rc_controls.c
View File

@ -60,7 +60,6 @@
#include "flight/failsafe.h"
static const motorConfig_t *motorConfig;
static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
@ -116,13 +115,13 @@ bool areSticksInApModePosition(uint16_t ap_mode)
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
}
throttleStatus_e calculateThrottleStatus(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus(void)
{
if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
if ((rcData[THROTTLE] > (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)))
return THROTTLE_LOW;
} else {
if (rcData[THROTTLE] < rxConfig->mincheck)
if (rcData[THROTTLE] < rxConfig()->mincheck)
return THROTTLE_LOW;
}
@ -728,9 +727,8 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, pidProfile_t *pidProfileToUse)
{
motorConfig = motorConfigToUse;
pidProfile = pidProfileToUse;
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);

13
src/main/fc/rc_controls.h
View File

@ -177,6 +177,15 @@ typedef struct rcControlsConfig_s {
PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
} flight3DConfig_t;
PG_DECLARE(flight3DConfig_t, flight3DConfig);
typedef struct armingConfig_s {
uint8_t gyro_cal_on_first_arm; // allow disarm/arm on throttle down + roll left/right
uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
@ -189,7 +198,7 @@ bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
struct rxConfig_s;
throttleStatus_e calculateThrottleStatus(const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
throttleStatus_e calculateThrottleStatus(void);
void processRcStickPositions(const struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
@ -294,4 +303,4 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
struct pidProfile_s;
struct motorConfig_s;
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, struct pidProfile_s *pidProfileToUse);

60
src/main/flight/altitudehold.c
View File

@ -21,25 +21,26 @@
#include <stdlib.h>
#include <math.h>
#include "platform.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/maths.h"
#include "sensors/barometer.h"
#include "sensors/sonar.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "fc/rc_controls.h"
#include "io/motors.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "fc/runtime_config.h"
#include "sensors/barometer.h"
#include "sensors/sonar.h"
int32_t setVelocity = 0;
@ -50,22 +51,11 @@ int32_t AltHold;
int32_t vario = 0; // variometer in cm/s
static barometerConfig_t *barometerConfig;
static pidProfile_t *pidProfile;
static rcControlsConfig_t *rcControlsConfig;
static motorConfig_t *motorConfig;
void configureAltitudeHold(
pidProfile_t *initialPidProfile,
barometerConfig_t *intialBarometerConfig,
rcControlsConfig_t *initialRcControlsConfig,
motorConfig_t *initialMotorConfig
)
void configureAltitudeHold(pidProfile_t *initialPidProfile)
{
pidProfile = initialPidProfile;
barometerConfig = intialBarometerConfig;
rcControlsConfig = initialRcControlsConfig;
motorConfig = initialMotorConfig;
}
#if defined(BARO) || defined(SONAR)
@ -82,22 +72,22 @@ static void applyMultirotorAltHold(void)
{
static uint8_t isAltHoldChanged = 0;
// multirotor alt hold
if (rcControlsConfig->alt_hold_fast_change) {
if (rcControlsConfig()->alt_hold_fast_change) {
// rapid alt changes
if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig()->alt_hold_deadband) {
errorVelocityI = 0;
isAltHoldChanged = 1;
rcCommand[THROTTLE] += (rcData[THROTTLE] > initialThrottleHold) ? -rcControlsConfig->alt_hold_deadband : rcControlsConfig->alt_hold_deadband;
rcCommand[THROTTLE] += (rcData[THROTTLE] > initialThrottleHold) ? -rcControlsConfig()->alt_hold_deadband : rcControlsConfig()->alt_hold_deadband;
} else {
if (isAltHoldChanged) {
AltHold = EstAlt;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
}
} else {
// slow alt changes, mostly used for aerial photography
if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband) {
if (ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig()->alt_hold_deadband) {
// set velocity proportional to stick movement +100 throttle gives ~ +50 cm/s
setVelocity = (rcData[THROTTLE] - initialThrottleHold) / 2;
velocityControl = 1;
@ -107,23 +97,23 @@ static void applyMultirotorAltHold(void)
velocityControl = 0;
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig()->minthrottle, motorConfig()->maxthrottle);
}
}
static void applyFixedWingAltHold(airplaneConfig_t *airplaneConfig)
static void applyFixedWingAltHold(void)
{
// handle fixedwing-related althold. UNTESTED! and probably wrong
// 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 * airplaneConfig()->fixedwing_althold_dir;
}
void applyAltHold(airplaneConfig_t *airplaneConfig)
void applyAltHold(void)
{
if (STATE(FIXED_WING)) {
applyFixedWingAltHold(airplaneConfig);
applyFixedWingAltHold();
} else {
applyMultirotorAltHold();
}
@ -272,7 +262,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * barometerConfig->baro_cf_alt + (float)baro.BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for altitude estimation (baro & acc)
accAlt = accAlt * barometerConfig()->baro_cf_alt + (float)baro.BaroAlt * (1.0f - barometerConfig()->baro_cf_alt); // complementary filter for altitude estimation (baro & acc)
vel += vel_acc;
#ifdef DEBUG_ALT_HOLD
@ -308,7 +298,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * barometerConfig->baro_cf_vel + baroVel * (1.0f - barometerConfig->baro_cf_vel);
vel = vel * barometerConfig()->baro_cf_vel + baroVel * (1.0f - barometerConfig()->baro_cf_vel);
vel_tmp = lrintf(vel);
// set vario

8
src/main/flight/altitudehold.h
View File

@ -23,13 +23,9 @@ extern int32_t vario;
void calculateEstimatedAltitude(timeUs_t currentTimeUs);
struct pidProfile_s;
struct barometerConfig_s;
struct rcControlsConfig_s;
struct motorConfig_s;
void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct motorConfig_s *initialMotorConfig);
void configureAltitudeHold(struct pidProfile_s *initialPidProfile);
struct airplaneConfig_s;
void applyAltHold(struct airplaneConfig_s *airplaneConfig);
void applyAltHold(void);
void updateAltHoldState(void);
void updateSonarAltHoldState(void);

7
src/main/flight/failsafe.c
View File

@ -53,8 +53,6 @@
static failsafeState_t failsafeState;
static uint16_t deadband3dThrottle; // default throttle deadband from MIDRC
/*
* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
*/
@ -71,9 +69,8 @@ void failsafeReset(void)
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
}
void failsafeInit(uint16_t deadband3d_throttle)
void failsafeInit(void)
{
deadband3dThrottle = deadband3d_throttle;
failsafeState.events = 0;
failsafeState.monitoring = false;
@ -180,7 +177,7 @@ void failsafeUpdateState(void)
case FAILSAFE_IDLE:
if (armed) {
// Track throttle command below minimum time
if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig(), deadband3dThrottle)) {
if (THROTTLE_HIGH == calculateThrottleStatus()) {
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
}
// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)

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

@ -74,7 +74,7 @@ typedef struct failsafeState_s {
failsafeRxLinkState_e rxLinkState;
} failsafeState_t;
void failsafeInit(uint16_t deadband3d_throttle);
void failsafeInit(void);
void failsafeReset(void);
void failsafeStartMonitoring(void);

5
src/main/flight/imu.h
View File

@ -32,11 +32,6 @@ extern float accVelScale;
extern int32_t accSum[XYZ_AXIS_COUNT];
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
#define DEGREES_TO_RADIANS(angle) ((angle) * 0.0174532925f)
typedef union {
int16_t raw[XYZ_AXIS_COUNT];
struct {

9
src/main/flight/mixer.h
View File

@ -104,15 +104,6 @@ typedef struct mixerConfig_s {
PG_DECLARE(mixerConfig_t, mixerConfig);
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
} flight3DConfig_t;
PG_DECLARE(flight3DConfig_t, flight3DConfig);
typedef struct motorConfig_s {
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000

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

@ -93,6 +93,8 @@ typedef struct pidConfig_s {
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
} pidConfig_t;
PG_DECLARE(pidConfig_t, pidConfig);
union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);

19
src/main/sensors/battery.c
View File

@ -22,29 +22,23 @@
#include "build/debug.h"
#include "common/maths.h"
#include "common/filter.h"
#include "common/utils.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/adc.h"
#include "drivers/system.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "config/feature.h"
#include "io/beeper.h"
#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "fc/rc_controls.h"
#include "io/beeper.h"
#include "rx/rx.h"
#include "common/utils.h"
#define VBAT_LPF_FREQ 0.4f
#define IBAT_LPF_FREQ 0.4f
@ -64,7 +58,7 @@ uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered)
uint16_t vbatLatest = 0; // most recent unsmoothed value
int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
int32_t amperageLatest = 0; // most recent value
int32_t amperageLatest = 0; // most recent value
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
@ -266,9 +260,8 @@ void updateConsumptionWarning(void)
}
}
void updateCurrentMeter(int32_t lastUpdateAt, const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
void updateCurrentMeter(int32_t lastUpdateAt)
{
(void)(rxConfig);
if (getBatteryState() != BATTERY_NOT_PRESENT) {
switch(batteryConfig()->currentMeterType) {
case CURRENT_SENSOR_ADC:
@ -279,7 +272,7 @@ void updateCurrentMeter(int32_t lastUpdateAt, const rxConfig_t *rxConfig, uint16
case CURRENT_SENSOR_VIRTUAL:
amperageLatest = (int32_t)batteryConfig()->currentMeterOffset;
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), deadband3d_throttle);
throttleStatus_e throttleStatus = calculateThrottleStatus();
int throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP)) {
throttleOffset = 0;

6
src/main/sensors/battery.h
View File

@ -18,7 +18,6 @@
#pragma once
#include "config/parameter_group.h"
#include "common/maths.h" // for fix12_t
#ifndef VBAT_SCALE_DEFAULT
#define VBAT_SCALE_DEFAULT 110
@ -80,9 +79,6 @@ extern uint16_t batteryWarningVoltage;
extern int32_t amperageLatest;
extern int32_t amperage;
extern int32_t mAhDrawn;
#ifndef USE_PARAMETER_GROUPS
extern const batteryConfig_t *batteryConfig;
#endif
batteryState_e getBatteryState(void);
const char * getBatteryStateString(void);
@ -90,7 +86,7 @@ void updateBattery(void);
void batteryInit(void);
struct rxConfig_s;
void updateCurrentMeter(int32_t lastUpdateAt, const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
void updateCurrentMeter(int32_t lastUpdateAt);
int32_t currentMeterToCentiamps(uint16_t src);
float calculateVbatPidCompensation(void);

2
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -1065,7 +1065,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
mac->range.startStep = bstRead8();
mac->range.endStep = bstRead8();
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &currentProfile->pidProfile);
} else {
ret = BST_FAILED;
}

9
src/main/telemetry/frsky.c
View File

@ -195,18 +195,15 @@ static void sendGpsAltitude(void)
}
#endif
static void sendThrottleOrBatterySizeAsRpm(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
static void sendThrottleOrBatterySizeAsRpm(void)
{
sendDataHead(ID_RPM);
#ifdef USE_ESC_SENSOR
UNUSED(rxConfig);
UNUSED(deadband3d_throttle);
escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
serialize16(escData->dataAge < ESC_DATA_INVALID ? escData->rpm : 0);
#else
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig, deadband3d_throttle);
const throttleStatus_e throttleStatus = calculateThrottleStatus();
uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
throttleForRPM = 0;
@ -538,7 +535,7 @@ void handleFrSkyTelemetry(void)
if ((cycleNum % 8) == 0) { // Sent every 1s
sendTemperature1();
sendThrottleOrBatterySizeAsRpm(rxConfig(), flight3DConfig()->deadband3d_throttle);
sendThrottleOrBatterySizeAsRpm();
if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) && batteryCellCount > 0) {
sendVoltage();