Remove config.c's dependencies on the mw.h/board.h files. Moved some RX

code into rx_common.c. Moved some GPS code into gps_common.c.  Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h.  Moved sound & light code into
statusindicator.c

Makefile

@@ -80,6 +80,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   typeconversion.c \
 		   serial_cli.c \
 		   serial_msp.c \
+		   statusindicator.c \
 		   $(CMSIS_SRC) \
 		   $(STDPERIPH_SRC)
 

src/config.c

@@ -1,16 +1,33 @@
-#include "board.h"
+#include <stdbool.h>
-#include "flight_common.h"
+#include <stdint.h>
-#include "mw.h"
-
 #include <string.h>
 
+#include "platform.h"
+
+#include "common/axis.h"
+#include "flight_common.h"
+
+#include "drivers/system_common.h"
+
+#include "statusindicator.h"
 #include "sensors_acceleration.h"
 #include "telemetry_common.h"
 #include "gps_common.h"
 
-#include "config_storage.h"
+#include "drivers/serial_common.h"
-#include "config.h"
+#include "flight_mixer.h"
+#include "sensors_common.h"
+#include "boardalignment.h"
+#include "battery.h"
+#include "gimbal.h"
+#include "rx_common.h"
+#include "gps_common.h"
 
+#include "runtime_config.h"
+#include "config.h"
+#include "config_storage.h"
+
+void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
 
 #ifndef FLASH_PAGE_COUNT
 #define FLASH_PAGE_COUNT 128
@@ -21,22 +38,10 @@
 
 master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
-const char rcChannelLetters[] = "AERT1234";
 
 static const uint8_t EEPROM_CONF_VERSION = 62;
 static void resetConf(void);
 
-void parseRcChannels(const char *input)
-{
-    const char *c, *s;
-
-    for (c = input; *c; c++) {
-        s = strchr(rcChannelLetters, *c);
-        if (s)
-            mcfg.rxConfig.rcmap[s - rcChannelLetters] = c - input;
-    }
-}
-
 static uint8_t validEEPROM(void)
 {
     const master_t *temp = (const master_t *)FLASH_WRITE_ADDR;
@@ -65,8 +70,6 @@ static uint8_t validEEPROM(void)
 
 void readEEPROM(void)
 {
-    uint8_t i;
-
     // Sanity check
     if (!validEEPROM())
         failureMode(10);
@@ -78,19 +81,8 @@ void readEEPROM(void)
         mcfg.current_profile = 0;
     memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
 
-    for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
+    generatePitchCurve(&cfg.controlRateConfig);
-        lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;
+    generateThrottleCurve(&cfg.controlRateConfig, mcfg.minthrottle, mcfg.maxthrottle);
-
-    for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
-        int16_t tmp = 10 * i - cfg.thrMid8;
-        uint8_t y = 1;
-        if (tmp > 0)
-            y = 100 - cfg.thrMid8;
-        if (tmp < 0)
-            y = cfg.thrMid8;
-        lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
-        lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
-    }
 
     setPIDController(cfg.pidController);
     gpsSetPIDs();
@@ -150,7 +142,7 @@ retry:
     // re-read written data
     readEEPROM();
     if (b)
-        blinkLED(15, 20, 1);
+        blinkLedAndSoundBeeper(15, 20, 1);
 }
 
 void checkFirstTime(bool reset)
@@ -260,14 +252,14 @@ static void resetConf(void)
     cfg.P8[PIDVEL] = 120;
     cfg.I8[PIDVEL] = 45;
     cfg.D8[PIDVEL] = 1;
-    cfg.rcRate8 = 90;
+    cfg.controlRateConfig.rcRate8 = 90;
-    cfg.rcExpo8 = 65;
+    cfg.controlRateConfig.rcExpo8 = 65;
-    cfg.rollPitchRate = 0;
+    cfg.controlRateConfig.rollPitchRate = 0;
-    cfg.yawRate = 0;
+    cfg.controlRateConfig.yawRate = 0;
     cfg.dynThrPID = 0;
     cfg.tpaBreakPoint = 1500;
-    cfg.thrMid8 = 50;
+    cfg.controlRateConfig.thrMid8 = 50;
-    cfg.thrExpo8 = 0;
+    cfg.controlRateConfig.thrExpo8 = 0;
     // for (i = 0; i < CHECKBOXITEMS; i++)
     //     cfg.activate[i] = 0;
     cfg.angleTrim[0] = 0;
@@ -283,7 +275,7 @@ static void resetConf(void)
     cfg.acc_unarmedcal = 1;
 
     // Radio
-    parseRcChannels("AETR1234");
+    parseRcChannels("AETR1234", &mcfg.rxConfig);
     cfg.deadband = 0;
     cfg.yawdeadband = 0;
     cfg.alt_hold_throttle_neutral = 40;
@@ -324,7 +316,7 @@ static void resetConf(void)
     mcfg.reboot_character = 'R';
 
     // custom mixer. clear by defaults.
-    for (i = 0; i < MAX_MOTORS; i++)
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
         mcfg.customMixer[i].throttle = 0.0f;
 
     // copy default config into all 3 profiles

src/config.h

@@ -41,3 +41,6 @@ void featureClear(uint32_t mask);
 void featureClearAll(void);
 uint32_t featureMask(void);
 
+void readEEPROM(void);
+void writeEEPROM(uint8_t b, uint8_t updateProfile);
+void checkFirstTime(bool reset);

src/config_storage.h

@@ -6,13 +6,7 @@ typedef struct config_t {
     uint8_t I8[PID_ITEM_COUNT];
     uint8_t D8[PID_ITEM_COUNT];
 
-    uint8_t rcRate8;
+    controlRateConfig_t controlRateConfig;
-    uint8_t rcExpo8;
-    uint8_t thrMid8;
-    uint8_t thrExpo8;
-
-    uint8_t rollPitchRate;
-    uint8_t yawRate;
 
     uint8_t dynThrPID;
     uint16_t tpaBreakPoint;                  // Breakpoint where TPA is activated
@@ -85,6 +79,7 @@ typedef struct master_t {
     uint16_t deadband3d_high;               // max 3d value
     uint16_t neutral3d;                     // center 3d value
     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
+
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
 

src/flight_mixer.h

@@ -1,5 +1,33 @@
 #pragma once
 
+// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
+typedef enum MultiType
+{
+    MULTITYPE_TRI = 1,
+    MULTITYPE_QUADP = 2,
+    MULTITYPE_QUADX = 3,
+    MULTITYPE_BI = 4,
+    MULTITYPE_GIMBAL = 5,
+    MULTITYPE_Y6 = 6,
+    MULTITYPE_HEX6 = 7,
+    MULTITYPE_FLYING_WING = 8,
+    MULTITYPE_Y4 = 9,
+    MULTITYPE_HEX6X = 10,
+    MULTITYPE_OCTOX8 = 11,          // Java GUI is same for the next 3 configs
+    MULTITYPE_OCTOFLATP = 12,       // MultiWinGui shows this differently
+    MULTITYPE_OCTOFLATX = 13,       // MultiWinGui shows this differently
+    MULTITYPE_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
+    MULTITYPE_HELI_120_CCPM = 15,
+    MULTITYPE_HELI_90_DEG = 16,
+    MULTITYPE_VTAIL4 = 17,
+    MULTITYPE_HEX6H = 18,
+    MULTITYPE_PPM_TO_SERVO = 19,    // PPM -> servo relay
+    MULTITYPE_DUALCOPTER = 20,
+    MULTITYPE_SINGLECOPTER = 21,
+    MULTITYPE_CUSTOM = 22,          // no current GUI displays this
+    MULTITYPE_LAST = 23
+} MultiType;
+
 // Custom mixer data per motor
 typedef struct motorMixer_t {
     float throttle;

src/gimbal.h

@@ -0,0 +1,7 @@
+#pragma once
+
+typedef enum GimbalFlags {
+    GIMBAL_NORMAL = 1 << 0,
+    GIMBAL_MIXTILT = 1 << 1,
+    GIMBAL_FORWARDAUX = 1 << 2,
+} GimbalFlags;

src/gps_common.c

@@ -243,7 +243,8 @@ static void GPS_calc_nav_rate(int max_speed);
 static void GPS_update_crosstrack(void);
 static bool UBLOX_parse_gps(void);
 static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow);
-int32_t wrap_18000(int32_t error);
+
+static int32_t wrap_18000(int32_t error);
 static int32_t wrap_36000(int32_t angle);
 
 typedef struct {
@@ -785,7 +786,7 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow)
 ////////////////////////////////////////////////////////////////////////////////////
 // Utilities
 //
-int32_t wrap_18000(int32_t error)
+static int32_t wrap_18000(int32_t error)
 {
     if (error > 18000)
         error -= 36000;
@@ -1265,3 +1266,18 @@ static bool UBLOX_parse_gps(void)
     }
     return false;
 }
+
+void updateGpsState(void)
+{
+    float sin_yaw_y = sinf(heading * 0.0174532925f);
+    float cos_yaw_x = cosf(heading * 0.0174532925f);
+    if (cfg.nav_slew_rate) {
+        nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
+        nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
+        GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
+        GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
+    } else {
+        GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
+        GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
+    }
+}

src/gps_common.h

@@ -1,5 +1,8 @@
 #pragma once
 
+#define LAT 0
+#define LON 1
+
 typedef enum {
     GPS_NMEA = 0,
     GPS_UBLOX,
@@ -17,3 +20,13 @@ typedef enum {
     GPS_BAUD_9600,
     GPS_BAUD_MAX = GPS_BAUD_9600
 } GPSBaudRates;
+
+// gps
+void gpsInit(uint8_t baudrate);
+void gpsThread(void);
+int8_t gpsSetPassthrough(void);
+void GPS_reset_home_position(void);
+void GPS_reset_nav(void);
+void GPS_set_next_wp(int32_t* lat, int32_t* lon);
+void gpsSetPIDs(void);
+void updateGpsState(void);

src/main.c

@@ -2,6 +2,7 @@
 #include "flight_common.h"
 #include "mw.h"
 
+#include "gps_common.h"
 #include "rx_sbus.h"
 #include "rx_sumd.h"
 #include "rx_spektrum.h"

src/mw.c

@@ -7,11 +7,13 @@
 #include "serial_cli.h"
 #include "telemetry_common.h"
 #include "typeconversion.h"
+#include "gps_common.h"
 #include "rx_common.h"
 #include "rx_sbus.h"
 #include "rx_sumd.h"
 #include "rx_spektrum.h"
 #include "failsafe.h"
+#include "statusindicator.h"
 
 // June 2013     V2.2-dev
 
@@ -24,8 +26,6 @@ int16_t headFreeModeHold;
 int16_t telemTemperature1;      // gyro sensor temperature
 
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
-int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];     // lookup table for expo & RC rate PITCH+ROLL
-int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
 uint16_t rssi;                  // range: [0;1023]
 
 static void pidMultiWii(void);
@@ -65,21 +65,6 @@ bool AccInflightCalibrationSavetoEEProm = false;
 bool AccInflightCalibrationActive = false;
 uint16_t InflightcalibratingA = 0;
 
-void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
-{
-    uint8_t i, r;
-
-    for (r = 0; r < repeat; r++) {
-        for (i = 0; i < num; i++) {
-            LED0_TOGGLE;            // switch LEDPIN state
-            BEEP_ON;
-            delay(wait);
-            BEEP_OFF;
-        }
-        delay(60);
-    }
-}
-
 void annexCode(void)
 {
     static uint32_t calibratedAccTime;
@@ -114,7 +99,7 @@ void annexCode(void)
 
             tmp2 = tmp / 100;
             rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
-            prop1 = 100 - (uint16_t)cfg.rollPitchRate * tmp / 500;
+            prop1 = 100 - (uint16_t)cfg.controlRateConfig.rollPitchRate * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
         } else {                // YAW
             if (cfg.yawdeadband) {
@@ -125,7 +110,7 @@ void annexCode(void)
                 }
             }
             rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
-            prop1 = 100 - (uint16_t)cfg.yawRate * abs(tmp) / 500;
+            prop1 = 100 - (uint16_t)cfg.controlRateConfig.yawRate * abs(tmp) / 500;
         }
         dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
         dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
@@ -222,7 +207,7 @@ static void mwArm(void)
             headFreeModeHold = heading;
         }
     } else if (!f.ARMED) {
-        blinkLED(2, 255, 1);
+        blinkLedAndSoundBeeper(2, 255, 1);
     }
 }
 
@@ -311,10 +296,10 @@ static void pidRewrite(void)
             errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
         }
         if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
-            AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
+            AngleRateTmp = (((int32_t)(cfg.controlRateConfig.yawRate + 27) * rcCommand[2]) >> 5);
          } else {
             if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
-                AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
+                AngleRateTmp = ((int32_t) (cfg.controlRateConfig.rollPitchRate + 27) * rcCommand[axis]) >> 4;
                 if (f.HORIZON_MODE) {
                     // mix up angle error to desired AngleRateTmp to add a little auto-level feel
                     AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;
@@ -507,7 +492,7 @@ void loop(void)
                 if (i) {
                     mcfg.current_profile = i - 1;
                     writeEEPROM(0, false);
-                    blinkLED(2, 40, i);
+                    blinkLedAndSoundBeeper(2, 40, i);
                     // TODO alarmArray[0] = i;
                 }
 
@@ -816,17 +801,7 @@ void loop(void)
 
         if (sensors(SENSOR_GPS)) {
             if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME) {
-                float sin_yaw_y = sinf(heading * 0.0174532925f);
+                updateGpsState();
-                float cos_yaw_x = cosf(heading * 0.0174532925f);
-                if (cfg.nav_slew_rate) {
-                    nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
-                    nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
-                    GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
-                    GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
-                } else {
-                    GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
-                    GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
-                }
             }
         }
 

src/mw.h

@@ -9,9 +9,6 @@
 
 #define  VERSION  230
 
-#define LAT  0
-#define LON  1
-
 // Serial GPS only variables
 // navigation mode
 typedef enum NavigationMode
@@ -21,40 +18,7 @@ typedef enum NavigationMode
     NAV_MODE_WP
 } NavigationMode;
 
-// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
+#include "gimbal.h"
-typedef enum MultiType
-{
-    MULTITYPE_TRI = 1,
-    MULTITYPE_QUADP = 2,
-    MULTITYPE_QUADX = 3,
-    MULTITYPE_BI = 4,
-    MULTITYPE_GIMBAL = 5,
-    MULTITYPE_Y6 = 6,
-    MULTITYPE_HEX6 = 7,
-    MULTITYPE_FLYING_WING = 8,
-    MULTITYPE_Y4 = 9,
-    MULTITYPE_HEX6X = 10,
-    MULTITYPE_OCTOX8 = 11,          // Java GUI is same for the next 3 configs
-    MULTITYPE_OCTOFLATP = 12,       // MultiWinGui shows this differently
-    MULTITYPE_OCTOFLATX = 13,       // MultiWinGui shows this differently
-    MULTITYPE_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
-    MULTITYPE_HELI_120_CCPM = 15,
-    MULTITYPE_HELI_90_DEG = 16,
-    MULTITYPE_VTAIL4 = 17,
-    MULTITYPE_HEX6H = 18,
-    MULTITYPE_PPM_TO_SERVO = 19,    // PPM -> servo relay 
-    MULTITYPE_DUALCOPTER = 20,
-    MULTITYPE_SINGLECOPTER = 21,
-    MULTITYPE_CUSTOM = 22,          // no current GUI displays this
-    MULTITYPE_LAST = 23
-} MultiType;
-
-typedef enum GimbalFlags {
-    GIMBAL_NORMAL = 1 << 0,
-    GIMBAL_MIXTILT = 1 << 1,
-    GIMBAL_FORWARDAUX = 1 << 2,
-} GimbalFlags;
-
 #include "flight_mixer.h"
 
 enum {
@@ -105,11 +69,6 @@ extern uint8_t vbat;
 extern int16_t telemTemperature1;      // gyro sensor temperature
 extern uint8_t toggleBeep;
 
-#define PITCH_LOOKUP_LENGTH 7
-#define THROTTLE_LOOKUP_LENGTH 12
-extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];   // lookup table for expo & RC rate PITCH+ROLL
-extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
-
 // GPS stuff
 extern int32_t  GPS_coord[2];
 extern int32_t  GPS_home[2];
@@ -143,7 +102,6 @@ void loop(void);
 void imuInit(void);
 void annexCode(void);
 void computeIMU(void);
-void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
 int getEstimatedAltitude(void);
 
 // Sensors
@@ -169,26 +127,9 @@ void mixTable(void);
 void serialInit(uint32_t baudrate);
 void serialCom(void);
 
-// Config
-void parseRcChannels(const char *input);
-void readEEPROM(void);
-void writeEEPROM(uint8_t b, uint8_t updateProfile);
-void checkFirstTime(bool reset);
-
 // buzzer
 void buzzer(bool warn_vbat);
 void systemBeep(bool onoff);
 
 // cli
 void cliProcess(void);
-
-// gps
-void gpsInit(uint8_t baudrate);
-void gpsThread(void);
-void gpsSetPIDs(void);
-int8_t gpsSetPassthrough(void);
-void GPS_reset_home_position(void);
-void GPS_reset_nav(void);
-void GPS_set_next_wp(int32_t* lat, int32_t* lon);
-int32_t wrap_18000(int32_t error);
-

src/rx_common.c

@@ -2,6 +2,8 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#include <string.h>
+
 #include "platform.h"
 
 #include "rx_common.h"
@@ -9,7 +11,10 @@
 
 #include "drivers/pwm_common.h"
 
+const char rcChannelLetters[] = "AERT1234";
 
+int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];     // lookup table for expo & RC rate PITCH+ROLL
+int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
 int16_t rcData[RC_CHANS];       // interval [1000;2000]
 
 rcReadRawDataPtr rcReadRawFunc = NULL;  // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
@@ -52,3 +57,39 @@ void computeRC(rxConfig_t *rxConfig)
         }
     }
 }
+
+void generatePitchCurve(controlRateConfig_t *controlRateConfig)
+{
+    uint8_t i;
+
+    for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
+        lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (i * i - 25)) * i * (int32_t) controlRateConfig->rcRate8 / 2500;
+}
+
+void generateThrottleCurve(controlRateConfig_t *controlRateConfig, uint16_t minThrottle, uint16_t maxThrottle)
+{
+    uint8_t i;
+
+    for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
+        int16_t tmp = 10 * i - controlRateConfig->thrMid8;
+        uint8_t y = 1;
+        if (tmp > 0)
+            y = 100 - controlRateConfig->thrMid8;
+        if (tmp < 0)
+            y = controlRateConfig->thrMid8;
+        lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
+        lookupThrottleRC[i] = minThrottle + (int32_t) (maxThrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
+    }
+}
+
+void parseRcChannels(const char *input, rxConfig_t *rxConfig)
+{
+    const char *c, *s;
+
+    for (c = input; *c; c++) {
+        s = strchr(rcChannelLetters, *c);
+        if (s)
+            rxConfig->rcmap[s - rcChannelLetters] = c - input;
+    }
+}
+

src/rx_common.h

@@ -43,8 +43,27 @@ typedef struct rxConfig_s {
     uint16_t maxcheck;                      // maximum rc end
 } rxConfig_t;
 
+typedef struct controlRateConfig_s {
+    uint8_t rcRate8;
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+    uint8_t rollPitchRate;
+    uint8_t yawRate;
+} controlRateConfig_t;
+
+#define PITCH_LOOKUP_LENGTH 7
+#define THROTTLE_LOOKUP_LENGTH 12
+extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH];   // lookup table for expo & RC rate PITCH+ROLL
+extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];   // lookup table for expo & mid THROTTLE
+
 typedef uint16_t (* rcReadRawDataPtr)(rxConfig_t *rxConfig, uint8_t chan);        // used by receiver driver to return channel data
 
 uint16_t pwmReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
 void computeRC(rxConfig_t *rxConfig);
 
+void generatePitchCurve(controlRateConfig_t *controlRateConfig);
+void generateThrottleCurve(controlRateConfig_t *controlRateConfig, uint16_t minThrottle, uint16_t maxThrottle);
+
+void parseRcChannels(const char *input, rxConfig_t *rxConfig);
+

src/sensors_gyro.c

@@ -4,7 +4,7 @@
 #include "common/maths.h"
 
 #include "flight_common.h"
-
+#include "statusindicator.h"
 
 void GYRO_Common(void)
 {
@@ -37,7 +37,7 @@ void GYRO_Common(void)
                     continue;
                 }
                 gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
-                blinkLED(10, 15, 1);
+                blinkLedAndSoundBeeper(10, 15, 1);
             }
         }
         calibratingG--;

src/serial_cli.c

@@ -171,12 +171,12 @@ const clivalue_t valueTable[] = {
     { "alt_hold_fast_change", VAR_UINT8, &cfg.alt_hold_fast_change, 0, 1 },
     { "throttle_correction_value", VAR_UINT8, &cfg.throttle_correction_value, 0, 150 },
     { "throttle_correction_angle", VAR_UINT16, &cfg.throttle_correction_angle, 1, 900 },
-    { "rc_rate", VAR_UINT8, &cfg.rcRate8, 0, 250 },
+    { "rc_rate", VAR_UINT8, &cfg.controlRateConfig.rcRate8, 0, 250 },
-    { "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
+    { "rc_expo", VAR_UINT8, &cfg.controlRateConfig.rcExpo8, 0, 100 },
-    { "thr_mid", VAR_UINT8, &cfg.thrMid8, 0, 100 },
+    { "thr_mid", VAR_UINT8, &cfg.controlRateConfig.thrMid8, 0, 100 },
-    { "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
+    { "thr_expo", VAR_UINT8, &cfg.controlRateConfig.thrExpo8, 0, 100 },
-    { "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
+    { "roll_pitch_rate", VAR_UINT8, &cfg.controlRateConfig.rollPitchRate, 0, 100 },
-    { "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
+    { "yawrate", VAR_UINT8, &cfg.controlRateConfig.yawRate, 0, 100 },
     { "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
     { "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, 1000, 2000},
     { "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
@@ -731,7 +731,7 @@ static void cliMap(char *cmdline)
             cliPrint("Must be any order of AETR1234\r\n");
             return;
         }
-        parseRcChannels(cmdline);
+        parseRcChannels(cmdline, &mcfg.rxConfig);
     }
     cliPrint("Current assignment: ");
     for (i = 0; i < 8; i++)

src/serial_msp.c

@@ -1,6 +1,7 @@
 #include "board.h"
 #include "mw.h"
 
+#include "gps_common.h"
 #include "serial_cli.h"
 #include "telemetry_common.h"
 #include "flight_common.h"
@@ -318,13 +319,13 @@ static void evaluateCommand(void)
         headSerialReply(0);
         break;
     case MSP_SET_RC_TUNING:
-        cfg.rcRate8 = read8();
+        cfg.controlRateConfig.rcRate8 = read8();
-        cfg.rcExpo8 = read8();
+        cfg.controlRateConfig.rcExpo8 = read8();
-        cfg.rollPitchRate = read8();
+        cfg.controlRateConfig.rollPitchRate = read8();
-        cfg.yawRate = read8();
+        cfg.controlRateConfig.yawRate = read8();
         cfg.dynThrPID = read8();
-        cfg.thrMid8 = read8();
+        cfg.controlRateConfig.thrMid8 = read8();
-        cfg.thrExpo8 = read8();
+        cfg.controlRateConfig.thrExpo8 = read8();
         headSerialReply(0);
         break;
     case MSP_SET_MISC:
@@ -479,13 +480,13 @@ static void evaluateCommand(void)
         break;
     case MSP_RC_TUNING:
         headSerialReply(7);
-        serialize8(cfg.rcRate8);
+        serialize8(cfg.controlRateConfig.rcRate8);
-        serialize8(cfg.rcExpo8);
+        serialize8(cfg.controlRateConfig.rcExpo8);
-        serialize8(cfg.rollPitchRate);
+        serialize8(cfg.controlRateConfig.rollPitchRate);
-        serialize8(cfg.yawRate);
+        serialize8(cfg.controlRateConfig.yawRate);
         serialize8(cfg.dynThrPID);
-        serialize8(cfg.thrMid8);
+        serialize8(cfg.controlRateConfig.thrMid8);
-        serialize8(cfg.thrExpo8);
+        serialize8(cfg.controlRateConfig.thrExpo8);
         break;
     case MSP_PID:
         headSerialReply(3 * PID_ITEM_COUNT);

src/statusindicator.c

@@ -0,0 +1,27 @@
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/system_common.h"
+#include "drivers/gpio_common.h"
+#include "drivers/light_led.h"
+#include "drivers/sound_beeper.h"
+
+#include "statusindicator.h"
+
+void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat)
+{
+    uint8_t i, r;
+
+    for (r = 0; r < repeat; r++) {
+        for (i = 0; i < num; i++) {
+            LED0_TOGGLE;            // switch LEDPIN state
+            BEEP_ON;
+            delay(wait);
+            BEEP_OFF;
+        }
+        delay(60);
+    }
+}

src/statusindicator.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat);

src/telemetry_frsky.c

@@ -6,6 +6,8 @@
 
 #include "flight_common.h"
 
+#include "gps_common.h"
+
 #include "telemetry_common.h"
 #include "telemetry_frsky.h"
 

src/telemetry_hott.c

@@ -44,6 +44,7 @@
 #include "board.h"
 #include "mw.h"
 
+#include "gps_common.h"
 #include "telemetry_hott.h"