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Add the first unit test for the mixer.

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See #16
This commit is contained in:
Dominic Clifton 2015-03-16 22:56:14 +01:00
parent 1e7fb08b9d
commit 8e6570754c
5 changed files with 177 additions and 22 deletions
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38
src/main/flight/mixer.c
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@ -27,8 +27,6 @@
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h"
#include "drivers/sensor.h"
@ -78,7 +76,7 @@ static mixerMode_e currentMixerMode;
static gimbalConfig_t *gimbalConfig;
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static uint8_t servoCount;
STATIC_UNIT_TESTED uint8_t servoCount;
static servoParam_t *servoConf;
static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
#endif
@ -404,6 +402,25 @@ void mixerResetMotors(void)
}
#ifdef USE_SERVOS
STATIC_UNIT_TESTED void forwardAuxChannelsToServos(void)
{
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
int8_t firstServo = servoCount - AUX_FORWARD_CHANNEL_TO_SERVO_COUNT;
// start forwarding from this channel
uint8_t channelOffset = AUX1;
int8_t servoOffset;
for (servoOffset = 0; servoOffset < AUX_FORWARD_CHANNEL_TO_SERVO_COUNT; servoOffset++) {
if (firstServo + servoOffset < 0) {
continue; // there are not enough servos to forward all the AUX channels.
}
pwmWriteServo(firstServo + servoOffset, rcData[channelOffset++]);
}
}
static void updateGimbalServos(void)
{
pwmWriteServo(0, servo[0]);
@ -653,20 +670,7 @@ void mixTable(void)
// forward AUX1-4 to servo outputs (not constrained)
if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
int8_t firstServo = servoCount - AUX_FORWARD_CHANNEL_TO_SERVO_COUNT;
// start forwarding from this channel
uint8_t channelOffset = AUX1;
int8_t servoOffset;
for (servoOffset = 0; servoOffset < AUX_FORWARD_CHANNEL_TO_SERVO_COUNT; servoOffset++) {
if (firstServo + servoOffset < 0) {
continue; // there are not enough servos to forward all the AUX channels.
}
pwmWriteServo(firstServo + servoOffset, rcData[channelOffset++]);
}
forwardAuxChannelsToServos();
}
#endif