Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

Rename multiType to mixerMode. Rename MULTITYPE_* to MIXER_*.

Browse source 
'Type' is a noise word.

'Multi' is a mis-nomer - there is nothing 'multi' about a gimbal or
fixed wing.
This commit is contained in:
Dominic Clifton 2014-12-24 11:40:21 +00:00
parent b123b4ef03
commit ee19c1f071
10 changed files with 100 additions and 101 deletions
Download patch file Download diff file Expand all files Collapse all files

103
src/main/flight/mixer.c
View file

@ -62,7 +62,7 @@ static rxConfig_t *rxConfig;
static gimbalConfig_t *gimbalConfig;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static multiType_e currentMixerConfiguration;
static mixerMode_e currentMixerMode;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -188,29 +188,29 @@ static const motorMixer_t mixerDualcopter[] = {
const mixer_t mixers[] = {
// Mo Se Mixtable
{ 0, 0, NULL }, // entry 0
{ 3, 1, mixerTri }, // MULTITYPE_TRI
{ 4, 0, mixerQuadP }, // MULTITYPE_QUADP
{ 4, 0, mixerQuadX }, // MULTITYPE_QUADX
{ 2, 1, mixerBi }, // MULTITYPE_BI
{ 0, 1, NULL }, // * MULTITYPE_GIMBAL
{ 6, 0, mixerY6 }, // MULTITYPE_Y6
{ 6, 0, mixerHex6P }, // MULTITYPE_HEX6
{ 1, 1, NULL }, // * MULTITYPE_FLYING_WING
{ 4, 0, mixerY4 }, // MULTITYPE_Y4
{ 6, 0, mixerHex6X }, // MULTITYPE_HEX6X
{ 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8
{ 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP
{ 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX
{ 1, 1, NULL }, // * MULTITYPE_AIRPLANE
{ 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM
{ 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG
{ 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4
{ 6, 0, mixerHex6H }, // MULTITYPE_HEX6H
{ 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER
{ 1, 1, NULL }, // MULTITYPE_SINGLECOPTER
{ 4, 0, mixerAtail4 }, // MULTITYPE_ATAIL4
{ 0, 0, NULL }, // MULTITYPE_CUSTOM
{ 3, 1, mixerTri }, // MIXER_TRI
{ 4, 0, mixerQuadP }, // MIXER_QUADP
{ 4, 0, mixerQuadX }, // MIXER_QUADX
{ 2, 1, mixerBi }, // MIXER_BI
{ 0, 1, NULL }, // * MIXER_GIMBAL
{ 6, 0, mixerY6 }, // MIXER_Y6
{ 6, 0, mixerHex6P }, // MIXER_HEX6
{ 1, 1, NULL }, // * MIXER_FLYING_WING
{ 4, 0, mixerY4 }, // MIXER_Y4
{ 6, 0, mixerHex6X }, // MIXER_HEX6X
{ 8, 0, mixerOctoX8 }, // MIXER_OCTOX8
{ 8, 0, mixerOctoFlatP }, // MIXER_OCTOFLATP
{ 8, 0, mixerOctoFlatX }, // MIXER_OCTOFLATX
{ 1, 1, NULL }, // * MIXER_AIRPLANE
{ 0, 1, NULL }, // * MIXER_HELI_120_CCPM
{ 0, 1, NULL }, // * MIXER_HELI_90_DEG
{ 4, 0, mixerVtail4 }, // MIXER_VTAIL4
{ 6, 0, mixerHex6H }, // MIXER_HEX6H
{ 0, 1, NULL }, // * MIXER_PPM_TO_SERVO
{ 2, 1, mixerDualcopter }, // MIXER_DUALCOPTER
{ 1, 1, NULL }, // MIXER_SINGLECOPTER
{ 4, 0, mixerAtail4 }, // MIXER_ATAIL4
{ 0, 0, NULL }, // MIXER_CUSTOM
};
#endif
@ -258,14 +258,14 @@ static motorMixer_t *customMixers;
#ifndef USE_QUAD_MIXER_ONLY
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[currentMixerConfiguration].useServo;
useServo = mixers[currentMixerMode].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT))
useServo = 1;
@ -277,7 +277,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
servoCount = pwmOutputConfiguration->servoCount;
if (currentMixerConfiguration == MULTITYPE_CUSTOM) {
if (currentMixerMode == MIXER_CUSTOM) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
@ -287,11 +287,11 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
motorCount++;
}
} else {
motorCount = mixers[currentMixerConfiguration].motorCount;
motorCount = mixers[currentMixerMode].motorCount;
// copy motor-based mixers
if (mixers[currentMixerConfiguration].motor) {
if (mixers[currentMixerMode].motor) {
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerConfiguration].motor[i];
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
@ -307,8 +307,8 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
}
// set flag that we're on something with wings
if (currentMixerConfiguration == MULTITYPE_FLYING_WING ||
currentMixerConfiguration == MULTITYPE_AIRPLANE)
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE)
ENABLE_STATE(FIXED_WING);
else
DISABLE_STATE(FIXED_WING);
@ -335,9 +335,9 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
#else
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
@ -359,7 +359,6 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
}
#endif
void mixerResetMotors(void)
{
int i;
@ -379,13 +378,13 @@ void writeServos(void)
if (!useServo)
return;
switch (currentMixerConfiguration) {
case MULTITYPE_BI:
switch (currentMixerMode) {
case MIXER_BI:
pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
break;
case MULTITYPE_TRI:
case MIXER_TRI:
if (mixerConfig->tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(0, servo[5]);
@ -398,22 +397,22 @@ void writeServos(void)
}
break;
case MULTITYPE_FLYING_WING:
case MIXER_FLYING_WING:
pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]);
break;
case MULTITYPE_GIMBAL:
case MIXER_GIMBAL:
updateGimbalServos();
break;
case MULTITYPE_DUALCOPTER:
case MIXER_DUALCOPTER:
pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
break;
case MULTITYPE_AIRPLANE:
case MULTITYPE_SINGLECOPTER:
case MIXER_AIRPLANE:
case MIXER_SINGLECOPTER:
pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]);
pwmWriteServo(2, servo[5]);
@ -517,26 +516,26 @@ void mixTable(void)
#ifndef USE_QUAD_MIXER_ONLY
// airplane / servo mixes
switch (currentMixerConfiguration) {
case MULTITYPE_BI:
switch (currentMixerMode) {
case MIXER_BI:
servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + determineServoMiddleOrForwardFromChannel(4); // LEFT
servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + determineServoMiddleOrForwardFromChannel(5); // RIGHT
break;
case MULTITYPE_TRI:
case MIXER_TRI:
servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + determineServoMiddleOrForwardFromChannel(5); // REAR
break;
case MULTITYPE_GIMBAL:
case MIXER_GIMBAL:
servo[0] = (((int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
servo[1] = (((int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
break;
case MULTITYPE_AIRPLANE:
case MIXER_AIRPLANE:
airplaneMixer();
break;
case MULTITYPE_FLYING_WING:
case MIXER_FLYING_WING:
if (!ARMING_FLAG(ARMED))
servo[7] = escAndServoConfig->mincommand;
else
@ -555,14 +554,14 @@ void mixTable(void)
servo[4] += determineServoMiddleOrForwardFromChannel(4);
break;
case MULTITYPE_DUALCOPTER:
case MIXER_DUALCOPTER:
for (i = 4; i < 6; i++) {
servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction
servo[i] += determineServoMiddleOrForwardFromChannel(i);
}
break;
case MULTITYPE_SINGLECOPTER:
case MIXER_SINGLECOPTER:
for (i = 3; i < 7; i++) {
servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction
servo[i] += determineServoMiddleOrForwardFromChannel(i);