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Code Issues Wiki Activity

Rename freq parameter; remove UT warnings

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This commit is contained in:
Joel Fuster 2015-01-04 22:15:09 -05:00
parent dc3271255c
commit 06ce23951b
5 changed files with 12 additions and 8 deletions
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2
src/main/config/config.c
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@ -428,7 +428,7 @@ static void resetConf(void)
currentProfile->mixerConfig.yaw_direction = 1; currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1; currentProfile->mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.servo_lowpass_freq_idx = 99; currentProfile->mixerConfig.servo_lowpass_freq = 400;
currentProfile->mixerConfig.servo_lowpass_enable = 0; currentProfile->mixerConfig.servo_lowpass_enable = 0;
// gimbal // gimbal

12
src/main/flight/mixer.c
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@ -58,14 +58,16 @@
#include "drivers/system.h" #include "drivers/system.h"
extern int16_t debug[4]; extern int16_t debug[4];
#ifndef UNIT_TEST
static uint8_t motorCount = 0; static uint8_t motorCount = 0;
static int useServo;
static uint8_t servoCount;
#endif
int16_t motor[MAX_SUPPORTED_MOTORS]; int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS]; int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS]; int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static uint8_t servoCount;
static servoParam_t *servoConf; static servoParam_t *servoConf;
static mixerConfig_t *mixerConfig; static mixerConfig_t *mixerConfig;
@ -75,8 +77,10 @@ static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig; static rxConfig_t *rxConfig;
static gimbalConfig_t *gimbalConfig; static gimbalConfig_t *gimbalConfig;
#ifndef UNIT_TEST
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS]; static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static mixerMode_e currentMixerMode; static mixerMode_e currentMixerMode;
#endif
static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS]; static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
static const motorMixer_t mixerQuadX[] = { static const motorMixer_t mixerQuadX[] = {
@ -775,7 +779,7 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) { if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) { for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = (int16_t)lowpass_fixed(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq_idx); servo[servoIdx] = (int16_t)lowpass_fixed(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq);
// Sanity check // Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max); servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);

2
src/main/flight/mixer.h
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@ -66,7 +66,7 @@ typedef struct mixer_t {
typedef struct mixerConfig_s { typedef struct mixerConfig_s {
int8_t yaw_direction; int8_t yaw_direction;
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
int16_t servo_lowpass_freq_idx; // lowpass servo filter frequency selection int16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
int8_t servo_lowpass_enable; // enable/disable lowpass filter int8_t servo_lowpass_enable; // enable/disable lowpass filter
} mixerConfig_t; } mixerConfig_t;

2
src/main/io/serial_cli.c
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@ -332,7 +332,7 @@ const clivalue_t valueTable[] = {
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 }, { "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 }, { "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 }, { "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
{ "servo_lowpass_freq_idx", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq_idx, 0, 99}, { "servo_lowpass_freq", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
{ "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 }, { "servo_lowpass_enable", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, { "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },

2
src/test/unit/mixer_unittest.cc
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@ -127,7 +127,7 @@ TEST(MixerTest, ServoLowpassFilter)
printf("*** Testing freq: %d (%f)\n", freq, ((float)freq * 0.001f)); printf("*** Testing freq: %d (%f)\n", freq, ((float)freq * 0.001f));
mixerConfig.servo_lowpass_enable = 1; mixerConfig.servo_lowpass_enable = 1;
mixerConfig.servo_lowpass_freq_idx = freq; mixerConfig.servo_lowpass_freq = freq;
mixerUseConfigs(servoConfig, NULL, NULL, &mixerConfig, NULL, NULL, NULL); mixerUseConfigs(servoConfig, NULL, NULL, &mixerConfig, NULL, NULL, NULL);
// Run tests // Run tests