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Add start channel for CHANNEL_FORWARDING

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This commit is contained in:
jflyper 2017-01-23 01:41:30 +09:00 • committed by borisbstyle
parent e21cea0ad2
commit d47eb1e69f
5 changed files with 17 additions and 5 deletions
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3
src/main/config/config_master.h
View file

@ -69,6 +69,7 @@
#define servoConfig(x) (&masterConfig.servoConfig) #define servoConfig(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig) #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define gimbalConfig(x) (&masterConfig.gimbalConfig) #define gimbalConfig(x) (&masterConfig.gimbalConfig)
#define channelForwardingConfig(x) (&masterConfig.channelForwardingConfig)
#define boardAlignment(x) (&masterConfig.boardAlignment) #define boardAlignment(x) (&masterConfig.boardAlignment)
#define imuConfig(x) (&masterConfig.imuConfig) #define imuConfig(x) (&masterConfig.imuConfig)
#define gyroConfig(x) (&masterConfig.gyroConfig) #define gyroConfig(x) (&masterConfig.gyroConfig)
@ -131,6 +132,8 @@ typedef struct master_s {
servoProfile_t servoProfile; servoProfile_t servoProfile;
// gimbal-related configuration // gimbal-related configuration
gimbalConfig_t gimbalConfig; gimbalConfig_t gimbalConfig;
// Channel forwarding start channel
channelForwardingConfig_t channelForwardingConfig;
#endif #endif
boardAlignment_t boardAlignment; boardAlignment_t boardAlignment;

1
src/main/fc/cli.c
View file

@ -649,6 +649,7 @@ const clivalue_t valueTable[] = {
{ "servo_lowpass", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } }, { "servo_lowpass", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 } }, { "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoPwmRate, .config.minmax = { 50, 498 } },
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } }, { "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &channelForwardingConfig()->startChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
#endif #endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } }, { "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },

6
src/main/fc/config.c
View file

@ -798,6 +798,9 @@ void createDefaultConfig(master_t *config)
// gimbal // gimbal
config->gimbalConfig.mode = GIMBAL_MODE_NORMAL; config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
// Channel forwarding;
config->channelForwardingConfig.startChannel = AUX1;
#endif #endif
#ifdef GPS #ifdef GPS
@ -911,10 +914,9 @@ void activateConfig(void)
); );
#ifdef USE_SERVOS #ifdef USE_SERVOS
servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig); servoUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoProfile.servoConf, &masterConfig.gimbalConfig, &masterConfig.channelForwardingConfig);
#endif #endif
imuConfigure( imuConfigure(
&masterConfig.imuConfig, &masterConfig.imuConfig,
&currentProfile->pidProfile, &currentProfile->pidProfile,

6
src/main/flight/servos.c
View file

@ -57,6 +57,7 @@ static gimbalConfig_t *gimbalConfig;
int16_t servo[MAX_SUPPORTED_SERVOS]; int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo; static int useServo;
static servoParam_t *servoConf; static servoParam_t *servoConf;
static channelForwardingConfig_t *channelForwardingConfig;
#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t)) #define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
@ -142,11 +143,12 @@ const mixerRules_t servoMixers[] = {
static servoMixer_t *customServoMixers; static servoMixer_t *customServoMixers;
void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse) void servoUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse)
{ {
servoMixerConfig = servoMixerConfigToUse; servoMixerConfig = servoMixerConfigToUse;
servoConf = servoParamsToUse; servoConf = servoParamsToUse;
gimbalConfig = gimbalConfigToUse; gimbalConfig = gimbalConfigToUse;
channelForwardingConfig = channelForwardingConfigToUse;
} }
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex) int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
@ -250,7 +252,7 @@ void servoMixerLoadMix(int index, servoMixer_t *customServoMixers)
STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex) STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
{ {
// start forwarding from this channel // start forwarding from this channel
uint8_t channelOffset = AUX1; uint8_t channelOffset = channelForwardingConfig->startChannel;
uint8_t servoOffset; uint8_t servoOffset;
for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) { for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {

6
src/main/flight/servos.h
View file

@ -114,6 +114,10 @@ typedef struct servoProfile_s {
servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
} servoProfile_t; } servoProfile_t;
typedef struct channelForwardingConfig_s {
uint8_t startChannel;
} channelForwardingConfig_t;
extern int16_t servo[MAX_SUPPORTED_SERVOS]; extern int16_t servo[MAX_SUPPORTED_SERVOS];
void servoTable(void); void servoTable(void);
@ -123,7 +127,7 @@ void filterServos(void);
void servoMixerInit(servoMixer_t *customServoMixers); void servoMixerInit(servoMixer_t *customServoMixers);
struct gimbalConfig_s; struct gimbalConfig_s;
void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse); void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse, struct channelForwardingConfig_s *channelForwardingConfigToUse);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers); void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void); void loadCustomServoMixer(void);
void servoConfigureOutput(void); void servoConfigureOutput(void);