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Split escAndServoConfig into motor and servo parts

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This commit is contained in:
Martin Budden 2016-09-26 09:31:28 +01:00
parent 60da2b52ff
commit a11d0bdb4d
35 changed files with 173 additions and 118 deletions
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41
src/main/flight/mixer.c
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@ -40,7 +40,8 @@
#include "rx/rx.h"
#include "io/gimbal.h"
#include "io/escservo.h"
#include "io/motors.h"
#include "io/servos.h"
#include "fc/rc_controls.h"
#include "sensors/sensors.h"
@ -64,7 +65,7 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static mixerConfig_t *mixerConfig;
static flight3DConfig_t *flight3DConfig;
static escAndServoConfig_t *escAndServoConfig;
static motorConfig_t *motorConfig;
static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig;
static bool syncPwmWithPidLoop = false;
@ -337,13 +338,13 @@ static motorMixer_t *customMixers;
void mixerUseConfigs(
flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse,
motorConfig_t *motorConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfigToUse)
{
flight3DConfig = flight3DConfigToUse;
escAndServoConfig = escAndServoConfigToUse;
motorConfig = motorConfigToUse;
mixerConfig = mixerConfigToUse;
airplaneConfig = airplaneConfigToUse;
rxConfig = rxConfigToUse;
@ -548,7 +549,7 @@ void mixerResetDisarmedMotors(void)
int i;
// set disarmed motor values
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand;
}
#ifdef USE_SERVOS
@ -659,7 +660,7 @@ void writeAllMotors(int16_t mc)
void stopMotors(void)
{
writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand);
writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand);
delay(50); // give the timers and ESCs a chance to react.
}
@ -798,25 +799,25 @@ void mixTable(void *pidProfilePtr)
if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
throttleMin = motorConfig->minthrottle;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
} else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
throttleMax = escAndServoConfig->maxthrottle;
throttleMax = motorConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
throttleMin = motorConfig->minthrottle;
} else { // Deadband handling from positive to negative
throttleMax = escAndServoConfig->maxthrottle;
throttleMax = motorConfig->maxthrottle;
throttle = throttleMin = flight3DConfig->deadband3d_high;
}
} else {
throttle = rcCommand[THROTTLE];
throttleMin = escAndServoConfig->minthrottle;
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = motorConfig->minthrottle;
throttleMax = motorConfig->maxthrottle;
}
throttleRange = throttleMax - throttleMin;
@ -840,34 +841,34 @@ void mixTable(void *pidProfilePtr)
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
motor[i] = constrain(motor[i], motorConfig->mincommand, motorConfig->maxthrottle);
} else if (feature(FEATURE_3D)) {
if (throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low);
motor[i] = constrain(motor[i], motorConfig->minthrottle, flight3DConfig->deadband3d_low);
} else {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, motorConfig->maxthrottle);
}
} else {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
motor[i] = constrain(motor[i], motorConfig->minthrottle, motorConfig->maxthrottle);
}
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
motor[i] = motorConfig->mincommand;
}
}
}
// Anti Desync feature for ESC's. Limit rapid throttle changes
if (escAndServoConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
if (motorConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < throttleRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
motor[i] = constrain(motor[i], motorConfig->minthrottle, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
motorPrevious[i] = motor[i];
}
}