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Added shadow copies for CLI and MSP.

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This commit is contained in:
mikeller 2018-07-10 00:49:17 +12:00
parent 985a9208d5
commit 6de1c32d9d
56 changed files with 277 additions and 222 deletions
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12
src/main/flight/mixer.c
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@ -383,7 +383,7 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
@ -395,7 +395,7 @@ void initEscEndpoints(void)
break;
#endif
default:
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low;
motorOutputHigh = flight3DConfig()->limit3d_high;
@ -536,7 +536,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
float currentThrottleInputRange = 0;
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) {
rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
}
@ -708,7 +708,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
}
// Motor stop handling
if (featureConfigured(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureConfigured(FEATURE_3D) && !isAirmodeActive()) {
if (featureIsEnabled(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !featureIsEnabled(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
motorOutput = disarmMotorOutput;
}
@ -851,7 +851,7 @@ float convertExternalToMotor(uint16_t externalValue)
case true:
externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (externalValue == PWM_RANGE_MID) {
motorValue = DSHOT_DISARM_COMMAND;
} else if (externalValue < PWM_RANGE_MID) {
@ -880,7 +880,7 @@ uint16_t convertMotorToExternal(float motorValue)
switch ((int)isMotorProtocolDshot()) {
#ifdef USE_DSHOT
case true:
if (featureConfigured(FEATURE_3D)) {
if (featureIsEnabled(FEATURE_3D)) {
if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MID;
} else if (motorValue <= DSHOT_3D_DEADBAND_LOW) {