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Refactored mixer / servo init.

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This commit is contained in:
mikeller 2020-10-11 13:08:58 +13:00
parent efa39dc0f6
commit 1a6514cd9b
5 changed files with 44 additions and 45 deletions
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42
src/main/flight/mixer_init.c
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@ -317,24 +317,6 @@ void mixerInitProfile(void)
#endif
}
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
mixerTricopterInit();
}
#endif
#ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
#endif
}
#ifdef USE_LAUNCH_CONTROL
// Create a custom mixer for launch control based on the current settings
// but disable the front motors. We don't care about roll or yaw because they
@ -354,7 +336,7 @@ void loadLaunchControlMixer(void)
#ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void)
static void mixerConfigureOutput(void)
{
mixerRuntime.motorCount = 0;
@ -401,7 +383,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
}
}
#else
void mixerConfigureOutput(void)
static void mixerConfigureOutput(void)
{
mixerRuntime.motorCount = QUAD_MOTOR_COUNT;
for (int i = 0; i < mixerRuntime.motorCount; i++) {
@ -414,6 +396,26 @@ void mixerConfigureOutput(void)
}
#endif // USE_QUAD_MIXER_ONLY
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
mixerTricopterInit();
}
#endif
#ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
#endif
mixerConfigureOutput();
}
void mixerResetDisarmedMotors(void)
{
// set disarmed motor values