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Merge pull request #3177 from jflyper/bfdev-reset-unsupported-mixer-to-custom-followup2

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Follow up to mixer validation
This commit is contained in:
Martin Budden 2017-06-01 17:53:24 +01:00 • committed by GitHub
commit ae0f735ae1
4 changed files with 21 additions and 11 deletions
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15
src/main/fc/config.c
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@ -546,10 +546,19 @@ void activateConfig(void)
void validateAndFixConfig(void) void validateAndFixConfig(void)
{ {
#if !defined(USE_UNCOMMON_MIXERS) && !defined(USE_QUAD_MIXER_ONLY) && !defined(USE_OSD_SLAVE) #if !defined(USE_QUAD_MIXER_ONLY) && !defined(USE_OSD_SLAVE)
// Reset unsupported mixer mode to default.
// This check will be gone when motor/servo mixers are loaded dynamically
// by configurator as a part of configuration procedure.
mixerMode_e mixerMode = mixerConfigMutable()->mixerMode; mixerMode_e mixerMode = mixerConfigMutable()->mixerMode;
if (mixerMode != MIXER_CUSTOM && mixerMode != MIXER_CUSTOM_AIRPLANE && mixerMode != MIXER_CUSTOM_TRI && mixers[mixerMode].motor == NULL) {
mixerConfigMutable()->mixerMode = MIXER_CUSTOM; if (!(mixerMode == MIXER_CUSTOM || mixerMode == MIXER_CUSTOM_AIRPLANE || mixerMode == MIXER_CUSTOM_TRI)) {
if (mixers[mixerMode].motorCount && mixers[mixerMode].motor == NULL)
mixerConfigMutable()->mixerMode = MIXER_CUSTOM;
if (mixers[mixerMode].useServo && servoMixers[mixerMode].servoRuleCount == 0)
mixerConfigMutable()->mixerMode = MIXER_CUSTOM_AIRPLANE;
} }
#endif #endif

2
src/main/flight/mixer.c
View file

@ -319,7 +319,7 @@ const mixer_t mixers[] = {
{ 3, true, NULL }, // MIXER_CUSTOM_TRI { 3, true, NULL }, // MIXER_CUSTOM_TRI
{ 4, false, mixerQuadX1234 }, { 4, false, mixerQuadX1234 },
}; };
#endif #endif // !USE_QUAD_MIXER_ONLY
static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow; static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
uint16_t motorOutputHigh, motorOutputLow; uint16_t motorOutputHigh, motorOutputLow;

7
src/main/flight/servos.c
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@ -156,13 +156,6 @@ static const servoMixer_t servoMixerGimbal[] = {
{ SERVO_GIMBAL_ROLL, INPUT_GIMBAL_ROLL, 125, 0, 0, 100, 0 }, { SERVO_GIMBAL_ROLL, INPUT_GIMBAL_ROLL, 125, 0, 0, 100, 0 },
}; };
// Custom mixer configuration
typedef struct mixerRules_s {
uint8_t servoRuleCount;
const servoMixer_t *rule;
} mixerRules_t;
const mixerRules_t servoMixers[] = { const mixerRules_t servoMixers[] = {
{ 0, NULL }, // entry 0 { 0, NULL }, // entry 0
{ COUNT_SERVO_RULES(servoMixerTri), servoMixerTri }, // MULTITYPE_TRI { COUNT_SERVO_RULES(servoMixerTri), servoMixerTri }, // MULTITYPE_TRI

8
src/main/flight/servos.h
View file

@ -91,6 +91,14 @@ typedef struct servoMixer_s {
PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers); PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers);
// Custom mixer configuration
typedef struct mixerRules_s {
uint8_t servoRuleCount;
const servoMixer_t *rule;
} mixerRules_t;
extern const mixerRules_t servoMixers[];
typedef struct servoParam_s { typedef struct servoParam_s {
uint32_t reversedSources; // the direction of servo movement for each input source of the servo mixer, bit set=inverted uint32_t reversedSources; // the direction of servo movement for each input source of the servo mixer, bit set=inverted
int16_t min; // servo min int16_t min; // servo min