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Split mixer and servo code

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This commit is contained in:
Martin Budden 2016-10-14 10:47:04 +01:00
parent 726a8d29e2
commit 31828873fa
12 changed files with 654 additions and 598 deletions
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21
src/main/fc/config.c
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@ -72,6 +72,7 @@
#include "telemetry/telemetry.h"
#include "flight/mixer.h"
#include "flight/servos.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/failsafe.h"
@ -407,13 +408,17 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
void resetMixerConfig(mixerConfig_t *mixerConfig)
{
mixerConfig->yaw_motor_direction = 1;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;
mixerConfig->servo_lowpass_enable = 0;
#endif
}
#ifdef USE_SERVOS
void resetServoMixerConfig(servoMixerConfig_t *servoMixerConfig)
{
servoMixerConfig->tri_unarmed_servo = 1;
servoMixerConfig->servo_lowpass_freq = 400;
servoMixerConfig->servo_lowpass_enable = 0;
}
#endif
uint8_t getCurrentProfile(void)
{
return masterConfig.current_profile_index;
@ -573,13 +578,13 @@ void createDefaultConfig(master_t *config)
config->auto_disarm_delay = 5;
config->small_angle = 25;
resetMixerConfig(&config->mixerConfig);
config->airplaneConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
resetMixerConfig(&config->mixerConfig);
resetMotorConfig(&config->motorConfig);
#ifdef USE_SERVOS
resetServoMixerConfig(&config->servoMixerConfig);
resetServoConfig(&config->servoConfig);
#endif
resetFlight3DConfig(&config->flight3DConfig);
@ -774,7 +779,7 @@ void activateConfig(void)
);
#ifdef USE_SERVOS
servoUseConfigs(masterConfig.servoConf, &masterConfig.gimbalConfig);
servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoConf, &masterConfig.gimbalConfig);
#endif
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;