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Code Issues Wiki Activity

Added more servosMixers to USE_UNCOMMON_MIXERS

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This commit is contained in:
Martin Budden 2018-01-07 10:09:33 +00:00
parent 172c1e370b
commit 23eefc6841
1 changed files with 29 additions and 28 deletions
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57
src/main/flight/servos.c
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@ -117,6 +117,10 @@ static const servoMixer_t servoMixerFlyingWing[] = {
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 }, { SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
}; };
static const servoMixer_t servoMixerTri[] = {
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
};
#if defined(USE_UNCOMMON_MIXERS) #if defined(USE_UNCOMMON_MIXERS)
static const servoMixer_t servoMixerBI[] = { static const servoMixer_t servoMixerBI[] = {
{ SERVO_BICOPTER_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
@ -124,22 +128,11 @@ static const servoMixer_t servoMixerBI[] = {
{ SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
}; };
#else
#define servoMixerBI NULL
#endif
static const servoMixer_t servoMixerTri[] = {
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
};
#if defined(USE_UNCOMMON_MIXERS)
static const servoMixer_t servoMixerDual[] = { static const servoMixer_t servoMixerDual[] = {
{ SERVO_DUALCOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_DUALCOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_DUALCOPTER_RIGHT, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, { SERVO_DUALCOPTER_RIGHT, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
}; };
#else
#define servoMixerDual NULL
#endif
static const servoMixer_t servoMixerSingle[] = { static const servoMixer_t servoMixerSingle[] = {
{ SERVO_SINGLECOPTER_1, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_SINGLECOPTER_1, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
@ -163,6 +156,12 @@ static const servoMixer_t servoMixerHeli[] = {
{ SERVO_HELI_TOP, INPUT_RC_AUX1, 100, 0, 0, 100, 0 }, { SERVO_HELI_TOP, INPUT_RC_AUX1, 100, 0, 0, 100, 0 },
{ SERVO_HELI_RUD, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_HELI_RUD, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
}; };
#else
#define servoMixerBI NULL
#define servoMixerDual NULL
#define servoMixerSingle NULL
#define servoMixerHeli NULL
#endif // USE_UNCOMMON_MIXERS
static const servoMixer_t servoMixerGimbal[] = { static const servoMixer_t servoMixerGimbal[] = {
{ SERVO_GIMBAL_PITCH, INPUT_GIMBAL_PITCH, 125, 0, 0, 100, 0 }, { SERVO_GIMBAL_PITCH, INPUT_GIMBAL_PITCH, 125, 0, 0, 100, 0 },
@ -318,18 +317,6 @@ void writeServos(void)
uint8_t servoIndex = 0; uint8_t servoIndex = 0;
switch (currentMixerMode) { switch (currentMixerMode) {
case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
break;
case MIXER_HELI_120_CCPM:
pwmWriteServo(servoIndex++, servo[SERVO_HELI_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RIGHT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_TOP]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RUD]);
break;
case MIXER_TRI: case MIXER_TRI:
case MIXER_CUSTOM_TRI: case MIXER_CUSTOM_TRI:
if (servoConfig()->tri_unarmed_servo) { if (servoConfig()->tri_unarmed_servo) {
@ -349,11 +336,6 @@ void writeServos(void)
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]); pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
break; break;
case MIXER_DUALCOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
break;
case MIXER_CUSTOM_AIRPLANE: case MIXER_CUSTOM_AIRPLANE:
case MIXER_AIRPLANE: case MIXER_AIRPLANE:
for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) { for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
@ -361,11 +343,30 @@ void writeServos(void)
} }
break; break;
#ifdef USE_UNCOMMON_MIXERS
case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
break;
case MIXER_HELI_120_CCPM:
pwmWriteServo(servoIndex++, servo[SERVO_HELI_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RIGHT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_TOP]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RUD]);
break;
case MIXER_DUALCOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
break;
case MIXER_SINGLECOPTER: case MIXER_SINGLECOPTER:
for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) { for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]); pwmWriteServo(servoIndex++, servo[i]);
} }
break; break;
#endif // USE_UNCOMMON_MIXERS
default: default:
break; break;