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First cut of custom servo mixers.

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Main rule logic and MSP commands ported from baseflight.

Gimbal mixer updated to use rules.  This allows us to remove more
conditional logic.  Operation of gimbal servos is now different.
This commit is contained in:
Dominic Clifton 2015-06-28 22:27:49 +01:00
parent c142e3dfe9
commit ea6a6ccb3d
9 changed files with 617 additions and 204 deletions
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9
src/main/config/config.c
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@ -347,10 +347,6 @@ static void setControlRateProfile(uint8_t profileIndex)
static void resetConf(void)
{
int i;
#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));
@ -417,7 +413,6 @@ static void resetConf(void)
resetMixerConfig(&masterConfig.mixerConfig);
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.airplaneConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
@ -482,7 +477,7 @@ static void resetConf(void)
currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
currentProfile->servoConf[i].rate = servoRates[i];
currentProfile->servoConf[i].rate = 100;
currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
@ -498,7 +493,7 @@ static void resetConf(void)
// custom mixer. clear by defaults.
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMixer[i].throttle = 0.0f;
masterConfig.customMotorMixer[i].throttle = 0.0f;
#ifdef LED_STRIP
applyDefaultColors(masterConfig.colors, CONFIGURABLE_COLOR_COUNT);