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

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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
Download patch file Download diff file Expand all files Collapse all files

16
src/serial_msp.c
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@ -14,11 +14,13 @@
#include "serial_common.h"
#include "flight_common.h"
#include "flight_mixer.h"
#include "escservo.h"
#include "rc_controls.h"
#include "boardalignment.h"
#include "gps_common.h"
#include "rx_common.h"
#include "battery.h"
#include "gimbal.h"
#include "sensors_common.h"
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
@ -363,9 +365,9 @@ static void evaluateCommand(void)
break;
case MSP_SET_MISC:
read16(); // powerfailmeter
masterConfig.minthrottle = read16();
masterConfig.maxthrottle = read16();
masterConfig.mincommand = read16();
masterConfig.escAndServoConfig.minthrottle = read16();
masterConfig.escAndServoConfig.maxthrottle = read16();
masterConfig.escAndServoConfig.mincommand = read16();
currentProfile.failsafeConfig.failsafe_throttle = read16();
read16();
read32();
@ -401,7 +403,7 @@ static void evaluateCommand(void)
serialize8(VERSION); // multiwii version
serialize8(masterConfig.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (masterConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
@ -570,9 +572,9 @@ static void evaluateCommand(void)
case MSP_MISC:
headSerialReply(2 * 6 + 4 + 2 + 4);
serialize16(0); // intPowerTrigger1 (aka useless trash)
serialize16(masterConfig.minthrottle);
serialize16(masterConfig.maxthrottle);
serialize16(masterConfig.mincommand);
serialize16(masterConfig.escAndServoConfig.minthrottle);
serialize16(masterConfig.escAndServoConfig.maxthrottle);
serialize16(masterConfig.escAndServoConfig.mincommand);
serialize16(currentProfile.failsafeConfig.failsafe_throttle);
serialize16(0); // plog useless shit
serialize32(0); // plog useless shit