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Merge pull request #6901 from jflyper/bfdev-improve-USE_SERVOS-handling

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Improve handling of USE_SERVOS in mixer.c
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Michael Keller 2018-10-11 01:16:04 +13:00 • committed by GitHub
commit 93c38d09bd
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1 changed files with 8 additions and 4 deletions
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12
src/main/flight/mixer.c
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@ -285,6 +285,8 @@ static const motorMixer_t mixerQuadX1234[] = {
}; };
// Keep synced with mixerMode_e // Keep synced with mixerMode_e
// Some of these entries are bogus when servos (USE_SERVOS) are not configured,
// but left untouched to keep ordinals synced with mixerMode_e (and configurator).
const mixer_t mixers[] = { const mixer_t mixers[] = {
// motors, use servo, motor mixer // motors, use servo, motor mixer
{ 0, false, NULL }, // entry 0 { 0, false, NULL }, // entry 0
@ -350,14 +352,12 @@ bool areMotorsRunning(void)
return motorsRunning; return motorsRunning;
} }
#ifdef USE_SERVOS
bool mixerIsTricopter(void) bool mixerIsTricopter(void)
{ {
#ifdef USE_SERVOS
return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI); return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
#else
return false;
#endif
} }
#endif
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range // DSHOT scaling is done to the actual dshot range
@ -406,9 +406,11 @@ void mixerInit(mixerMode_e mixerMode)
currentMixerMode = mixerMode; currentMixerMode = mixerMode;
initEscEndpoints(); initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) { if (mixerIsTricopter()) {
mixerTricopterInit(); mixerTricopterInit();
} }
#endif
} }
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
@ -697,9 +699,11 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips. // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + (motorOutputRange * (motorOutputMixSign * motorMix[i] + throttle * currentMixer[i].throttle)); float motorOutput = motorOutputMin + (motorOutputRange * (motorOutputMixSign * motorMix[i] + throttle * currentMixer[i].throttle));
#ifdef USE_SERVOS
if (mixerIsTricopter()) { if (mixerIsTricopter()) {
motorOutput += mixerTricopterMotorCorrection(i); motorOutput += mixerTricopterMotorCorrection(i);
} }
#endif
if (failsafeIsActive()) { if (failsafeIsActive()) {
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range