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Preparation for conversion to parameter groups

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This commit is contained in:
Martin Budden 2017-01-24 19:42:29 +00:00
parent 6f872ba899
commit 79d4b2146d
90 changed files with 1150 additions and 507 deletions
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17
src/main/fc/rc_controls.c
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@ -31,6 +31,8 @@
#include "common/maths.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/system.h"
@ -59,7 +61,7 @@
#include "flight/failsafe.h"
static motorConfig_t *motorConfig;
static const motorConfig_t *motorConfig;
static pidProfile_t *pidProfile;
// true if arming is done via the sticks (as opposed to a switch)
@ -115,7 +117,7 @@ bool areSticksInApModePosition(uint16_t ap_mode)
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus(const rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
@ -128,7 +130,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
return THROTTLE_HIGH;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
void processRcStickPositions(const rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -318,12 +320,12 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
}
bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
bool isModeActivationConditionPresent(const modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
{
uint8_t index;
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
return true;
@ -647,7 +649,7 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, const rxConfig_t *rxConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
@ -728,7 +730,7 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return MIN(ABS(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
void useRcControlsConfig(const modeActivationCondition_t *modeActivationConditions, const motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
{
motorConfig = motorConfigToUse;
pidProfile = pidProfileToUse;
@ -740,4 +742,3 @@ void resetAdjustmentStates(void)
{
memset(adjustmentStates, 0, sizeof(adjustmentStates));
}