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Code Issues Wiki Activity

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

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'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

2
src/main/config/config.c
View file

@ -309,7 +309,7 @@ static void resetConf(void)
setControlRateProfile(0); setControlRateProfile(0);
masterConfig.version = EEPROM_CONF_VERSION; masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerConfiguration = MULTITYPE_QUADX; masterConfig.mixerMode = MIXER_QUADX;
featureClearAll(); featureClearAll();
#if defined(CJMCU) || defined(SPARKY) #if defined(CJMCU) || defined(SPARKY)
featureSet(FEATURE_RX_PPM); featureSet(FEATURE_RX_PPM);

2
src/main/config/config_master.h
View file

@ -23,7 +23,7 @@ typedef struct master_t {
uint16_t size; uint16_t size;
uint8_t magic_be; // magic number, should be 0xBE uint8_t magic_be; // magic number, should be 0xBE
uint8_t mixerConfiguration; uint8_t mixerMode;
uint32_t enabledFeatures; uint32_t enabledFeatures;
uint16_t looptime; // imu loop time in us uint16_t looptime; // imu loop time in us
uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band

4
src/main/flight/imu.c
View file

@ -103,7 +103,7 @@ void calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff)
fc_acc = 0.5f / (M_PI * accz_lpf_cutoff); // calculate RC time constant used in the accZ lpf fc_acc = 0.5f / (M_PI * accz_lpf_cutoff); // calculate RC time constant used in the accZ lpf
} }
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration) void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
{ {
static int16_t gyroYawSmooth = 0; static int16_t gyroYawSmooth = 0;
@ -120,7 +120,7 @@ void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfigurat
gyroData[FD_ROLL] = gyroADC[FD_ROLL]; gyroData[FD_ROLL] = gyroADC[FD_ROLL];
gyroData[FD_PITCH] = gyroADC[FD_PITCH]; gyroData[FD_PITCH] = gyroADC[FD_PITCH];
if (mixerConfiguration == MULTITYPE_TRI) { if (mixerMode == MIXER_TRI) {
gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3; gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
gyroYawSmooth = gyroData[FD_YAW]; gyroYawSmooth = gyroData[FD_YAW];
} else { } else {

2
src/main/flight/imu.h
View file

@ -33,7 +33,7 @@ typedef struct imuRuntimeConfig_s {
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, accDeadband_t *initialAccDeadband); void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, accDeadband_t *initialAccDeadband);
void calculateEstimatedAltitude(uint32_t currentTime); void calculateEstimatedAltitude(uint32_t currentTime);
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration); void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
void calculateThrottleAngleScale(uint16_t throttle_correction_angle); void calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value); int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
void calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff); void calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);

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

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

52
src/main/flight/mixer.h
View file

@ -20,33 +20,33 @@
#define MAX_SUPPORTED_MOTORS 12 #define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8 #define MAX_SUPPORTED_SERVOS 8
typedef enum MultiType // Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode
{ {
MULTITYPE_TRI = 1, MIXER_TRI = 1,
MULTITYPE_QUADP = 2, MIXER_QUADP = 2,
MULTITYPE_QUADX = 3, MIXER_QUADX = 3,
MULTITYPE_BI = 4, MIXER_BI = 4,
MULTITYPE_GIMBAL = 5, MIXER_GIMBAL = 5,
MULTITYPE_Y6 = 6, MIXER_Y6 = 6,
MULTITYPE_HEX6 = 7, MIXER_HEX6 = 7,
MULTITYPE_FLYING_WING = 8, MIXER_FLYING_WING = 8,
MULTITYPE_Y4 = 9, MIXER_Y4 = 9,
MULTITYPE_HEX6X = 10, MIXER_HEX6X = 10,
MULTITYPE_OCTOX8 = 11, MIXER_OCTOX8 = 11,
MULTITYPE_OCTOFLATP = 12, MIXER_OCTOFLATP = 12,
MULTITYPE_OCTOFLATX = 13, MIXER_OCTOFLATX = 13,
MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported) MIXER_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
MULTITYPE_HELI_120_CCPM = 15, MIXER_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16, MIXER_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17, MIXER_VTAIL4 = 17,
MULTITYPE_HEX6H = 18, MIXER_HEX6H = 18,
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay MIXER_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20, MIXER_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21, MIXER_SINGLECOPTER = 21,
MULTITYPE_ATAIL4 = 22, MIXER_ATAIL4 = 22,
MULTITYPE_CUSTOM = 23, MIXER_CUSTOM = 23
MULTITYPE_LAST = 24 } mixerMode_e;
} multiType_e;
// Custom mixer data per motor // Custom mixer data per motor
typedef struct motorMixer_t { typedef struct motorMixer_t {

8
src/main/io/serial_cli.c
View file

@ -119,7 +119,7 @@ static char cliBuffer[48];
static uint32_t bufferIndex = 0; static uint32_t bufferIndex = 0;
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
// sync this with multiType_e // sync this with mixerMode_e
static const char * const mixerNames[] = { static const char * const mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI", "TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6", "GIMBAL", "Y6", "HEX6",
@ -783,7 +783,7 @@ static void cliDump(char *cmdline)
printf("\r\n# mixer\r\n"); printf("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]); printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
if (masterConfig.customMixer[0].throttle != 0.0f) { if (masterConfig.customMixer[0].throttle != 0.0f) {
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) { for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
@ -1032,7 +1032,7 @@ static void cliMixer(char *cmdline)
len = strlen(cmdline); len = strlen(cmdline);
if (len == 0) { if (len == 0) {
printf("Current mixer: %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]); printf("Current mixer: %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
return; return;
} else if (strncasecmp(cmdline, "list", len) == 0) { } else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: "); cliPrint("Available mixers: ");
@ -1051,7 +1051,7 @@ static void cliMixer(char *cmdline)
break; break;
} }
if (strncasecmp(cmdline, mixerNames[i], len) == 0) { if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
masterConfig.mixerConfiguration = i + 1; masterConfig.mixerMode = i + 1;
printf("Mixer set to %s\r\n", mixerNames[i]); printf("Mixer set to %s\r\n", mixerNames[i]);
break; break;
} }

16
src/main/io/serial_msp.c
View file

@ -225,7 +225,7 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
// //
// DEPRECATED - See MSP_API_VERSION and MSP_MIXER // DEPRECATED - See MSP_API_VERSION and MSP_MIXER
#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable #define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number #define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
@ -616,7 +616,7 @@ void mspInit(serialConfig_t *serialConfig)
} }
#endif #endif
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE)
activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU; activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
activeBoxIds[activeBoxIdCount++] = BOXBEEPERON; activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
@ -711,7 +711,7 @@ static bool processOutCommand(uint8_t cmdMSP)
case MSP_IDENT: case MSP_IDENT:
headSerialReply(7); headSerialReply(7);
serialize8(MW_VERSION); serialize8(MW_VERSION);
serialize8(masterConfig.mixerConfiguration); // type of multicopter serialize8(masterConfig.mixerMode);
serialize8(MSP_PROTOCOL_VERSION); serialize8(MSP_PROTOCOL_VERSION);
serialize32(CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0)); // "capability" serialize32(CAP_DYNBALANCE | (masterConfig.airplaneConfig.flaps_speed ? CAP_FLAPS : 0)); // "capability"
break; break;
@ -1027,7 +1027,7 @@ static bool processOutCommand(uint8_t cmdMSP)
case MSP_MIXER: case MSP_MIXER:
headSerialReply(1); headSerialReply(1);
serialize8(masterConfig.mixerConfiguration); serialize8(masterConfig.mixerMode);
break; break;
case MSP_RX_CONFIG: case MSP_RX_CONFIG:
@ -1052,7 +1052,7 @@ static bool processOutCommand(uint8_t cmdMSP)
case MSP_CONFIG: case MSP_CONFIG:
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2); headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2);
serialize8(masterConfig.mixerConfiguration); serialize8(masterConfig.mixerMode);
serialize32(featureMask()); serialize32(featureMask());
@ -1342,7 +1342,7 @@ static bool processInCommand(void)
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER: case MSP_SET_MIXER:
masterConfig.mixerConfiguration = read8(); masterConfig.mixerMode = read8();
break; break;
#endif #endif
@ -1367,9 +1367,9 @@ static bool processInCommand(void)
case MSP_SET_CONFIG: case MSP_SET_CONFIG:
#ifdef USE_QUAD_MIXER_ONLY #ifdef USE_QUAD_MIXER_ONLY
read8(); // multitype ignored read8(); // mixerMode ignored
#else #else
masterConfig.mixerConfiguration = read8(); // multitype masterConfig.mixerMode = read8(); // mixerMode
#endif #endif
featureClearAll(); featureClearAll();

8
src/main/main.c
View file

@ -96,7 +96,7 @@ void initTelemetry(void);
void serialInit(serialConfig_t *initialSerialConfig); void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig); failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init); pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *customMixers); void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMixers);
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration); void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe); void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void beepcodeInit(failsafe_t *initialFailsafe); void beepcodeInit(failsafe_t *initialFailsafe);
@ -264,7 +264,7 @@ void init(void)
LED1_OFF; LED1_OFF;
imuInit(); imuInit();
mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer); mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG)) if (sensors(SENSOR_MAG))
@ -275,7 +275,7 @@ void init(void)
memset(&pwm_params, 0, sizeof(pwm_params)); memset(&pwm_params, 0, sizeof(pwm_params));
// when using airplane/wing mixer, servo/motor outputs are remapped // when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE || masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING) if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
pwm_params.airplane = true; pwm_params.airplane = true;
else else
pwm_params.airplane = false; pwm_params.airplane = false;
@ -345,7 +345,7 @@ void init(void)
previousTime = micros(); previousTime = micros();
if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL) { if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES); accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
} }
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);

4
src/main/mw.c
View file

@ -574,7 +574,7 @@ void processRx(void)
DISABLE_FLIGHT_MODE(PASSTHRU_MODE); DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
} }
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) { if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE); DISABLE_FLIGHT_MODE(HEADFREE_MODE);
} }
} }
@ -627,7 +627,7 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) { if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime; loopTime = currentTime + masterConfig.looptime;
computeIMU(&currentProfile->accelerometerTrims, masterConfig.mixerConfiguration); computeIMU(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
// Measure loop rate just after reading the sensors // Measure loop rate just after reading the sensors
currentTime = micros(); currentTime = micros();