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First cut of custom servo mixers.

Browse source 
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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12
src/main/main.c
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@ -106,7 +106,11 @@ void mspInit(serialConfig_t *serialConfig);
void cliInit(serialConfig_t *serialConfig);
void failsafeInit(rxConfig_t *intialRxConfig);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMixers);
#ifdef USE_SERVOS
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
@ -197,7 +201,11 @@ void init(void)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
#ifdef USE_SERVOS
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
#else
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#endif
memset(&pwm_params, 0, sizeof(pwm_params));