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Merge branch 'master' into serial-cleanup

Browse source 
Conflicts:
	src/main/blackbox/blackbox_io.c
	src/main/config/config.c
This commit is contained in:
Dominic Clifton 2015-02-26 22:43:29 +00:00
commit b6509dd1eb
60 changed files with 2471 additions and 386 deletions
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36
src/main/config/config.c
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@ -74,9 +74,17 @@
#define BRUSHLESS_MOTORS_PWM_RATE 400
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
void mixerUseConfigs(
#ifdef USE_SERVOS
servoParam_t *servoConfToUse,
gimbalConfig_t *gimbalConfigToUse,
#endif
flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfig
);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
@ -111,7 +119,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 92;
static const uint8_t EEPROM_CONF_VERSION = 93;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -310,7 +318,10 @@ static void setControlRateProfile(uint8_t profileIndex)
static void resetConf(void)
{
int i;
int8_t servoRates[8] = { 30, 30, 100, 100, 100, 100, 100, 100 };
#ifdef USE_SERVOS
int8_t servoRates[MAX_SUPPORTED_SERVOS] = { 30, 30, 100, 100, 100, 100, 100, 100 };
;
#endif
// Clear all configuration
memset(&masterConfig, 0, sizeof(master_t));
@ -425,8 +436,9 @@ static void resetConf(void)
currentProfile->failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile->failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
#ifdef USE_SERVOS
// servos
for (i = 0; i < 8; i++) {
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
@ -436,9 +448,12 @@ static void resetConf(void)
currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.servo_lowpass_freq = 400;
currentProfile->mixerConfig.servo_lowpass_enable = 0;
// gimbal
currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
#endif
#ifdef GPS
resetGpsProfile(&currentProfile->gpsProfile);
@ -454,6 +469,7 @@ static void resetConf(void)
#endif
#ifdef BLACKBOX
masterConfig.blackbox_device = 0;
masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1;
#endif
@ -595,6 +611,8 @@ void activateConfig(void)
activateControlRateConfig();
resetAdjustmentStates();
useRcControlsConfig(
currentProfile->modeActivationConditions,
&masterConfig.escAndServoConfig,
@ -618,13 +636,15 @@ void activateConfig(void)
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(
#ifdef USE_SERVOS
currentProfile->servoConf,
&currentProfile->gimbalConfig,
#endif
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile->mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile->gimbalConfig
&masterConfig.rxConfig
);
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;