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Removed mixer and battery config static copies

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This commit is contained in:
Martin Budden 2017-02-01 13:09:46 +00:00
parent 5851b21e4a
commit 07dc35d441
6 changed files with 7 additions and 49 deletions
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26
src/main/flight/mixer.c
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@ -63,12 +63,6 @@ int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static airplaneConfig_t *airplaneConfig;
#ifndef USE_PARAMETER_GROUPS
static const mixerConfig_t *mixerConfig;
static const flight3DConfig_t *flight3DConfig;
static const motorConfig_t *motorConfig;
const rxConfig_t *rxConfig;
#endif
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@ -297,24 +291,8 @@ void initEscEndpoints(void) {
rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
}
void mixerUseConfigs(
flight3DConfig_t *flight3DConfigToUse,
motorConfig_t *motorConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfigToUse)
void mixerUseConfigs(airplaneConfig_t *airplaneConfigToUse)
{
#ifdef USE_PARAMETER_GROUPS
(void)(flight3DConfigToUse);
(void)(motorConfigToUse);
(void)(mixerConfigToUse);
(void)(rxConfigToUse);
#else
flight3DConfig = flight3DConfigToUse;
motorConfig = motorConfigToUse;
mixerConfig = mixerConfigToUse;
rxConfig = rxConfigToUse;
#endif
airplaneConfig = airplaneConfigToUse;
}
@ -494,7 +472,7 @@ void mixTable(pidProfile_t *pidProfile)
}
// Calculate voltage compensation
const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
const float vbatCompensationFactor = pidProfile->vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
// Find roll/pitch/yaw desired output
float motorMix[MAX_SUPPORTED_MOTORS];