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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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30
src/main/flight/servos.c
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@ -28,6 +28,9 @@
#include "common/filter.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/pwm_output.h"
#include "drivers/system.h"
@ -47,7 +50,6 @@
#include "config/feature.h"
extern mixerMode_e currentMixerMode;
extern rxConfig_t *rxConfig;
static servoMixerConfig_t *servoMixerConfig;
@ -276,7 +278,7 @@ void writeServos(void)
case MIXER_TRI:
case MIXER_CUSTOM_TRI:
if (servoMixerConfig->tri_unarmed_servo) {
if (servoMixerConfig()->tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
} else {
@ -346,7 +348,7 @@ STATIC_UNIT_TESTED void servoMixer(void)
input[INPUT_STABILIZED_YAW] = axisPIDf[YAW] * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
input[INPUT_STABILIZED_YAW] *= -1;
}
}
@ -362,14 +364,14 @@ STATIC_UNIT_TESTED void servoMixer(void)
// 2000 - 1500 = +500
// 1500 - 1500 = 0
// 1000 - 1500 = -500
input[INPUT_RC_ROLL] = rcData[ROLL] - rxConfig->midrc;
input[INPUT_RC_PITCH] = rcData[PITCH] - rxConfig->midrc;
input[INPUT_RC_YAW] = rcData[YAW] - rxConfig->midrc;
input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - rxConfig->midrc;
input[INPUT_RC_AUX1] = rcData[AUX1] - rxConfig->midrc;
input[INPUT_RC_AUX2] = rcData[AUX2] - rxConfig->midrc;
input[INPUT_RC_AUX3] = rcData[AUX3] - rxConfig->midrc;
input[INPUT_RC_AUX4] = rcData[AUX4] - rxConfig->midrc;
input[INPUT_RC_ROLL] = rcData[ROLL] - rxConfig()->midrc;
input[INPUT_RC_PITCH] = rcData[PITCH] - rxConfig()->midrc;
input[INPUT_RC_YAW] = rcData[YAW] - rxConfig()->midrc;
input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - rxConfig()->midrc;
input[INPUT_RC_AUX1] = rcData[AUX1] - rxConfig()->midrc;
input[INPUT_RC_AUX2] = rcData[AUX2] - rxConfig()->midrc;
input[INPUT_RC_AUX3] = rcData[AUX3] - rxConfig()->midrc;
input[INPUT_RC_AUX4] = rcData[AUX4] - rxConfig()->midrc;
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
servo[i] = 0;
@ -440,7 +442,7 @@ void servoTable(void)
servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
if (gimbalConfig->mode == GIMBAL_MODE_MIXTILT) {
if (gimbalConfig()->mode == GIMBAL_MODE_MIXTILT) {
servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 - (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 + (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
} else {
@ -471,10 +473,10 @@ void filterServos(void)
uint32_t startTime = micros();
#endif
if (servoMixerConfig->servo_lowpass_enable) {
if (servoMixerConfig()->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
if (!servoFilterIsSet) {
biquadFilterInitLPF(&servoFilter[servoIdx], servoMixerConfig->servo_lowpass_freq, targetPidLooptime);
biquadFilterInitLPF(&servoFilter[servoIdx], servoMixerConfig()->servo_lowpass_freq, targetPidLooptime);
servoFilterIsSet = true;
}