From 99e0e55e17c7e8ce6a266d9a7e4fd567bcaa1e95 Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Wed, 8 Jul 2015 13:58:28 +0100 Subject: [PATCH] Rename and re-order servo rule input sources --- src/main/flight/mixer.c | 70 ++++++++++++++++++++--------------------- src/main/flight/mixer.h | 16 +++++----- 2 files changed, 43 insertions(+), 43 deletions(-) diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index f0151c60c5..3bce4770a8 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -276,44 +276,44 @@ const mixer_t mixers[] = { #ifdef USE_SERVOS // mixer rule format servo, input, rate, speed, min, max, box static const servoMixer_t servoMixerAirplane[] = { - { SERVO_FLAPPERON_1, INPUT_ROLL, 100, 0, 0, 100, 0 }, - { SERVO_FLAPPERON_2, INPUT_ROLL, 100, 0, 0, 100, 0 }, - { SERVO_RUDDER, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_ELEVATOR, INPUT_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerFlyingWing[] = { - { SERVO_FLAPPERON_1, INPUT_ROLL, 100, 0, 0, 100, 0 }, - { SERVO_FLAPPERON_1, INPUT_PITCH, 100, 0, 0, 100, 0 }, - { SERVO_FLAPPERON_2, INPUT_ROLL, 100, 0, 0, 100, 0 }, - { SERVO_FLAPPERON_2, INPUT_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerBI[] = { - { SERVO_BIPLANE_LEFT, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_BIPLANE_LEFT, INPUT_PITCH, 100, 0, 0, 100, 0 }, - { SERVO_BIPLANE_RIGHT, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_BIPLANE_RIGHT, INPUT_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_BIPLANE_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_BIPLANE_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerTri[] = { - { SERVO_RUDDER, INPUT_YAW, 100, 0, 0, 100, 0 }, + { SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerDual[] = { - { SERVO_DUALCOPTER_LEFT, INPUT_PITCH, 100, 0, 0, 100, 0 }, - { SERVO_DUALCOPTER_RIGHT, INPUT_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_DUALCOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_DUALCOPTER_RIGHT, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerSingle[] = { - { SERVO_SINGLECOPTER_1, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_1, INPUT_PITCH, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_2, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_2, INPUT_PITCH, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_3, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_3, INPUT_ROLL, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_4, INPUT_YAW, 100, 0, 0, 100, 0 }, - { SERVO_SINGLECOPTER_4, INPUT_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_1, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_2, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_3, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_3, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_4, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, + { SERVO_SINGLECOPTER_4, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, }; static const servoMixer_t servoMixerGimbal[] = { @@ -707,25 +707,25 @@ static void servoMixer(void) if (FLIGHT_MODE(PASSTHRU_MODE)) { // Direct passthru from RX - input[INPUT_ROLL] = rcCommand[ROLL]; - input[INPUT_PITCH] = rcCommand[PITCH]; - input[INPUT_YAW] = rcCommand[YAW]; + input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL]; + input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH]; + input[INPUT_STABILIZED_YAW] = rcCommand[YAW]; } else { // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui - input[INPUT_ROLL] = axisPID[ROLL]; - input[INPUT_PITCH] = axisPID[PITCH]; - input[INPUT_YAW] = axisPID[YAW]; + input[INPUT_STABILIZED_ROLL] = axisPID[ROLL]; + input[INPUT_STABILIZED_PITCH] = axisPID[PITCH]; + input[INPUT_STABILIZED_YAW] = axisPID[YAW]; // Reverse yaw servo when inverted in 3D mode if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) { - input[INPUT_YAW] *= -1; + input[INPUT_STABILIZED_YAW] *= -1; } } input[INPUT_GIMBAL_PITCH] = scaleRange(inclination.values.pitchDeciDegrees, -1800, 1800, -500, +500); input[INPUT_GIMBAL_ROLL] = scaleRange(inclination.values.rollDeciDegrees, -1800, 1800, -500, +500); - input[INPUT_THROTTLE] = motor[0]; + input[INPUT_STABILIZED_THROTTLE] = motor[0]; // center the RC input value around the RC middle value // by subtracting the RC middle value from the RC input value, we get: @@ -733,14 +733,14 @@ static void servoMixer(void) // 2000 - 1500 = +500 // 1500 - 1500 = 0 // 1000 - 1500 = -500 - input[INPUT_AUX1] = rcData[AUX1] - rxConfig->midrc; - input[INPUT_AUX2] = rcData[AUX2] - rxConfig->midrc; - input[INPUT_AUX3] = rcData[AUX3] - rxConfig->midrc; - input[INPUT_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; diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h index 8078da0bc0..32c6492974 100644 --- a/src/main/flight/mixer.h +++ b/src/main/flight/mixer.h @@ -96,18 +96,18 @@ typedef struct airplaneConfig_t { // These must be consecutive, see 'reversedSources' enum { - INPUT_ROLL = 0, - INPUT_PITCH, - INPUT_YAW, - INPUT_THROTTLE, - INPUT_AUX1, - INPUT_AUX2, - INPUT_AUX3, - INPUT_AUX4, + INPUT_STABILIZED_ROLL = 0, + INPUT_STABILIZED_PITCH, + INPUT_STABILIZED_YAW, + INPUT_STABILIZED_THROTTLE, INPUT_RC_ROLL, INPUT_RC_PITCH, INPUT_RC_YAW, INPUT_RC_THROTTLE, + INPUT_RC_AUX1, + INPUT_RC_AUX2, + INPUT_RC_AUX3, + INPUT_RC_AUX4, INPUT_GIMBAL_PITCH, INPUT_GIMBAL_ROLL,