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Initialisation order meant that useServos was always false, the problem

Browse source 
was introduced in fd59a4cd52.
This commit is contained in:
Dominic Clifton 2014-06-30 19:41:46 +01:00
parent b364a0ea31
commit 07547d35aa
2 changed files with 24 additions and 13 deletions
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30
src/main/flight/mixer.c
View file

@ -243,21 +243,28 @@ int servoDirection(int nr, int lr)
return 1; return 1;
} }
void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers, pwmOutputConfiguration_t *pwmOutputConfiguration) static motorMixer_t *customMixers;
{
int i;
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration; currentMixerConfiguration = mixerConfiguration;
servoCount = pwmOutputConfiguration->servoCount; customMixers = initialCustomMixers;
// enable servos for mixes that require them. note, this shifts motor counts. // enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[mixerConfiguration].useServo; useServo = mixers[currentMixerConfiguration].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't // if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT)) if (feature(FEATURE_SERVO_TILT))
useServo = 1; useServo = 1;
}
if (mixerConfiguration == MULTITYPE_CUSTOM) { void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
{
int i;
servoCount = pwmOutputConfiguration->servoCount;
if (currentMixerConfiguration == MULTITYPE_CUSTOM) {
// load custom mixer into currentMixer // load custom mixer into currentMixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) { for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done // check if done
@ -267,11 +274,11 @@ void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers, pwmOutp
numberMotor++; numberMotor++;
} }
} else { } else {
numberMotor = mixers[mixerConfiguration].numberMotor; numberMotor = mixers[currentMixerConfiguration].numberMotor;
// copy motor-based mixers // copy motor-based mixers
if (mixers[mixerConfiguration].motor) { if (mixers[currentMixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++) for (i = 0; i < numberMotor; i++)
currentMixer[i] = mixers[mixerConfiguration].motor[i]; currentMixer[i] = mixers[currentMixerConfiguration].motor[i];
} }
} }
@ -287,8 +294,8 @@ void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers, pwmOutp
} }
// set flag that we're on something with wings // set flag that we're on something with wings
if (mixerConfiguration == MULTITYPE_FLYING_WING || if (currentMixerConfiguration == MULTITYPE_FLYING_WING ||
mixerConfiguration == MULTITYPE_AIRPLANE) currentMixerConfiguration == MULTITYPE_AIRPLANE)
f.FIXED_WING = 1; f.FIXED_WING = 1;
else else
f.FIXED_WING = 0; f.FIXED_WING = 0;
@ -586,6 +593,7 @@ void mixTable(void)
} }
} }
bool isMixerUsingServos(void) bool isMixerUsingServos(void)
{ {
return useServo; return useServo;

7
src/main/main.c
View file

@ -80,7 +80,8 @@ void initTelemetry(void);
void serialInit(serialConfig_t *initialSerialConfig); void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig); failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init); pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers, pwmOutputConfiguration_t *pwmOutputConfiguration); void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe); void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void beepcodeInit(failsafe_t *initialFailsafe); void beepcodeInit(failsafe_t *initialFailsafe);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile); void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
@ -160,6 +161,8 @@ void init(void)
LED1_OFF; LED1_OFF;
imuInit(); imuInit();
mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer);
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG)) if (sensors(SENSOR_MAG))
compassInit(); compassInit();
@ -200,7 +203,7 @@ void init(void)
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params); pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer, pwmOutputConfiguration); mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
failsafe = failsafeInit(&masterConfig.rxConfig); failsafe = failsafeInit(&masterConfig.rxConfig);
beepcodeInit(failsafe); beepcodeInit(failsafe);