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Code Issues Wiki Activity

Remove flight_mixer.c's dependency on mw.h/board.h.

Browse source 
This is a large commit, from the commit it is clear that the mixer has
many dependencies, this is expected since it is central to the
application.

To achieve the decoupling many master config and profile members had to
be moved into structures.

Relocated throttle/pitch curves into rc_curves.c/h since it has nothing
to with rx code, this fixed the dependencies inside the rx provider
files.
This commit is contained in:
Dominic Clifton 2014-04-24 00:15:47 +01:00
parent bb91b1f560
commit 695db3523a
25 changed files with 287 additions and 165 deletions
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50
src/config.c
View file

@ -7,8 +7,6 @@
#include "common/axis.h"
#include "flight_common.h"
#include "drivers/accgyro_common.h"
#include "drivers/system_common.h"
@ -26,7 +24,9 @@
#include "boardalignment.h"
#include "battery.h"
#include "gimbal.h"
#include "escservo.h"
#include "rc_controls.h"
#include "rc_curves.h"
#include "rx_common.h"
#include "gps_common.h"
#include "serial_common.h"
@ -38,6 +38,8 @@
#include "config_master.h"
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
#ifndef FLASH_PAGE_COUNT
#define FLASH_PAGE_COUNT 128
@ -87,7 +89,7 @@ static bool isEEPROMContentValid(void)
void activateConfig(void)
{
generatePitchCurve(&currentProfile.controlRateConfig);
generateThrottleCurve(&currentProfile.controlRateConfig, masterConfig.minthrottle, masterConfig.maxthrottle);
generateThrottleCurve(&currentProfile.controlRateConfig, &masterConfig.escAndServoConfig);
useGyroConfig(&masterConfig.gyroConfig);
setPIDController(currentProfile.pidController);
@ -95,6 +97,15 @@ void activateConfig(void)
gpsUsePIDs(&currentProfile.pidProfile);
useFailsafeConfig(&currentProfile.failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(
currentProfile.servoConf,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile.mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile.gimbalConfig
);
#ifdef BARO
useBarometerConfig(&currentProfile.barometerConfig);
@ -245,6 +256,21 @@ void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
}
void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
{
escAndServoConfig->minthrottle = 1150;
escAndServoConfig->maxthrottle = 1850;
escAndServoConfig->mincommand = 1000;
}
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
{
flight3DConfig->deadband3d_low = 1406;
flight3DConfig->deadband3d_high = 1514;
flight3DConfig->neutral3d = 1460;
flight3DConfig->deadband3d_throttle = 50;
}
// Default settings
static void resetConf(void)
{
@ -289,16 +315,12 @@ static void resetConf(void)
masterConfig.rxConfig.mincheck = 1100;
masterConfig.rxConfig.maxcheck = 1900;
masterConfig.retarded_arm = 0; // disable arm/disarm on roll left/right
masterConfig.flaps_speed = 0;
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
masterConfig.minthrottle = 1150;
masterConfig.maxthrottle = 1850;
masterConfig.mincommand = 1000;
masterConfig.deadband3d_low = 1406;
masterConfig.deadband3d_high = 1514;
masterConfig.neutral3d = 1460;
masterConfig.deadband3d_throttle = 50;
resetEscAndServoConfig(&masterConfig.escAndServoConfig);
resetFlight3DConfig(&masterConfig.flight3DConfig);
masterConfig.motor_pwm_rate = 400;
masterConfig.servo_pwm_rate = 50;
// gps/nav stuff
@ -366,11 +388,11 @@ static void resetConf(void)
currentProfile.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
currentProfile.yaw_direction = 1;
currentProfile.tri_unarmed_servo = 1;
currentProfile.mixerConfig.yaw_direction = 1;
currentProfile.mixerConfig.tri_unarmed_servo = 1;
// gimbal
currentProfile.gimbal_flags = GIMBAL_NORMAL;
currentProfile.gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
resetGpsProfile(&currentProfile.gpsProfile);