Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 08:15:30 +03:00
Code Issues Wiki Activity

Preparation for conversion to parameter groups 10

Browse source
This commit is contained in:
Martin Budden 2017-02-17 06:53:11 +00:00
parent ba6f3a0046
commit 90c8ed5e3e
14 changed files with 63 additions and 70 deletions
Download patch file Download diff file Expand all files Collapse all files

32
src/main/flight/servos.c
View file

@ -38,11 +38,11 @@
#include "rx/rx.h"
#include "io/gimbal.h"
#include "io/servos.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/servos.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
@ -52,8 +52,6 @@
extern mixerMode_e currentMixerMode;
static servoMixerConfig_t *servoMixerConfig;
static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
int16_t servo[MAX_SUPPORTED_SERVOS];
@ -113,6 +111,12 @@ static const servoMixer_t servoMixerGimbal[] = {
};
// Custom mixer configuration
typedef struct mixerRules_s {
uint8_t servoRuleCount;
const servoMixer_t *rule;
} mixerRules_t;
const mixerRules_t servoMixers[] = {
{ 0, NULL }, // entry 0
{ COUNT_SERVO_RULES(servoMixerTri), servoMixerTri }, // MULTITYPE_TRI
@ -145,9 +149,8 @@ const mixerRules_t servoMixers[] = {
static const servoMixer_t *customServoMixers;
void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse)
void servoUseConfigs(servoParam_t *servoParamsToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse)
{
servoMixerConfig = servoMixerConfigToUse;
servoConf = servoParamsToUse;
channelForwardingConfig = channelForwardingConfigToUse;
}
@ -267,10 +270,15 @@ static void updateGimbalServos(uint8_t firstServoIndex)
pwmWriteServo(firstServoIndex + 1, servo[SERVO_GIMBAL_ROLL]);
}
static void servoTable(void);
static void filterServos(void);
void writeServos(void)
{
uint8_t servoIndex = 0;
servoTable();
filterServos();
uint8_t servoIndex = 0;
switch (currentMixerMode) {
case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
@ -279,7 +287,7 @@ void writeServos(void)
case MIXER_TRI:
case MIXER_CUSTOM_TRI:
if (servoMixerConfig()->tri_unarmed_servo) {
if (servoConfig()->tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
} else {
@ -409,7 +417,7 @@ STATIC_UNIT_TESTED void servoMixer(void)
}
void servoTable(void)
static void servoTable(void)
{
// airplane / servo mixes
switch (currentMixerMode) {
@ -464,7 +472,7 @@ bool isMixerUsingServos(void)
return useServo;
}
void filterServos(void)
static void filterServos(void)
{
static int16_t servoIdx;
static bool servoFilterIsSet;
@ -474,10 +482,10 @@ void filterServos(void)
uint32_t startTime = micros();
#endif
if (servoMixerConfig()->servo_lowpass_enable) {
if (servoConfig()->servo_lowpass_freq) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
if (!servoFilterIsSet) {
biquadFilterInitLPF(&servoFilter[servoIdx], servoMixerConfig()->servo_lowpass_freq, targetPidLooptime);
biquadFilterInitLPF(&servoFilter[servoIdx], servoConfig()->servo_lowpass_freq, targetPidLooptime);
servoFilterIsSet = true;
}