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Cleanup disabling of mixers for CJMCU, this might be usefulfor the

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AlienWii32 target too.

Deleted old out of date comments.  Various other minor cleanups.
This commit is contained in:
Dominic Clifton 2014-12-24 11:33:14 +00:00
parent db14bd80cb
commit b123b4ef03
6 changed files with 69 additions and 54 deletions
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52
src/main/flight/mixer.c
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@ -62,7 +62,7 @@ static rxConfig_t *rxConfig;
static gimbalConfig_t *gimbalConfig;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static MultiType currentMixerConfiguration;
static multiType_e currentMixerConfiguration;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -70,8 +70,7 @@ static const motorMixer_t mixerQuadX[] = {
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
#ifndef CJMCU
#ifndef USE_QUAD_MIXER_ONLY
static const motorMixer_t mixerTri[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
@ -258,8 +257,8 @@ int servoDirection(int nr, int lr)
static motorMixer_t *customMixers;
#ifndef CJMCU
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
#ifndef USE_QUAD_MIXER_ONLY
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
@ -316,9 +315,27 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
mixerResetMotors();
}
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
customMixers[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
#else
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
@ -351,25 +368,6 @@ void mixerResetMotors(void)
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
}
#ifndef CJMCU
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
customMixers[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
#endif
static void updateGimbalServos(void)
{
pwmWriteServo(0, servo[0]);
@ -454,6 +452,7 @@ void writeAllMotors(int16_t mc)
writeMotors();
}
#ifndef USE_QUAD_MIXER_ONLY
static void airplaneMixer(void)
{
int16_t flapperons[2] = { 0, 0 };
@ -499,6 +498,7 @@ static void airplaneMixer(void)
servo[i] += determineServoMiddleOrForwardFromChannel(i);
}
}
#endif
void mixTable(void)
{
@ -515,6 +515,7 @@ void mixTable(void)
for (i = 0; i < motorCount; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
#ifndef USE_QUAD_MIXER_ONLY
// airplane / servo mixes
switch (currentMixerConfiguration) {
case MULTITYPE_BI:
@ -572,6 +573,7 @@ void mixTable(void)
default:
break;
}
#endif
// do camstab
if (feature(FEATURE_SERVO_TILT)) {