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Merge pull request #10261 from mikeller/split_mixer

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Michael Keller 2020-10-14 21:43:52 +13:00 • committed by GitHub
commit efa39dc0f6
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5 changed files with 582 additions and 510 deletions
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7
make/source.mk
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@ -95,6 +95,7 @@ COMMON_SRC = \
flight/imu.c \ flight/imu.c \
flight/interpolated_setpoint.c \ flight/interpolated_setpoint.c \
flight/mixer.c \ flight/mixer.c \
flight/mixer_init.c \
flight/mixer_tricopter.c \ flight/mixer_tricopter.c \
flight/pid.c \ flight/pid.c \
flight/pid_init.c \ flight/pid_init.c \
@ -275,6 +276,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
$(DEVICE_STDPERIPH_SRC) \ $(DEVICE_STDPERIPH_SRC) \
SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
$(shell find $(SRC_DIR) -name '*_init.c') \
bus_bst_stm32f30x.c \ bus_bst_stm32f30x.c \
cli/cli.c \ cli/cli.c \
cli/settings.c \ cli/settings.c \
@ -302,7 +304,6 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
drivers/serial_escserial.c \ drivers/serial_escserial.c \
drivers/serial_pinconfig.c \ drivers/serial_pinconfig.c \
drivers/serial_tcp.c \ drivers/serial_tcp.c \
drivers/serial_uart_init.c \
drivers/serial_uart_pinconfig.c \ drivers/serial_uart_pinconfig.c \
drivers/serial_usb_vcp.c \ drivers/serial_usb_vcp.c \
drivers/transponder_ir_io_hal.c \ drivers/transponder_ir_io_hal.c \
@ -348,9 +349,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
io/spektrum_vtx_control.c \ io/spektrum_vtx_control.c \
osd/osd.c \ osd/osd.c \
osd/osd_elements.c \ osd/osd_elements.c \
rx/rx_bind.c \ rx/rx_bind.c
sensors/gyro_init.c\
flight/pid_init.c
# Gyro driver files that only contain initialization and configuration code - not runtime code # Gyro driver files that only contain initialization and configuration code - not runtime code
SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \

2
src/main/fc/init.c
View file

@ -737,6 +737,8 @@ void init(void)
pidInit(currentPidProfile); pidInit(currentPidProfile);
mixerInitProfile();
#ifdef USE_PID_AUDIO #ifdef USE_PID_AUDIO
pidAudioInit(); pidAudioInit();
#endif #endif

570
src/main/flight/mixer.c
View file

@ -20,471 +20,65 @@
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <string.h>
#include <math.h> #include <math.h>
#include "platform.h" #include "platform.h"
#include "build/build_config.h"
#include "build/debug.h" #include "build/debug.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/filter.h" #include "common/filter.h"
#include "common/maths.h" #include "common/maths.h"
#include "config/config.h"
#include "config/feature.h" #include "config/feature.h"
#include "pg/motor.h"
#include "pg/rx.h"
#include "drivers/dshot.h" #include "drivers/dshot.h"
#include "drivers/io.h"
#include "drivers/motor.h" #include "drivers/motor.h"
#include "drivers/time.h" #include "drivers/time.h"
#include "drivers/io.h"
#include "config/config.h"
#include "fc/controlrate_profile.h" #include "fc/controlrate_profile.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "fc/rc_controls.h" #include "fc/rc_controls.h"
#include "fc/rc_modes.h" #include "fc/rc_modes.h"
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "fc/core.h"
#include "fc/rc.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/gps_rescue.h" #include "flight/gps_rescue.h"
#include "flight/mixer.h" #include "flight/imu.h"
#include "flight/mixer_init.h"
#include "flight/mixer_tricopter.h" #include "flight/mixer_tricopter.h"
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/rpm_filter.h" #include "flight/rpm_filter.h"
#include "pg/rx.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "sensors/battery.h" #include "sensors/battery.h"
#include "sensors/gyro.h" #include "sensors/gyro.h"
PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0); #include "mixer.h"
#define DYN_LPF_THROTTLE_STEPS 100 #define DYN_LPF_THROTTLE_STEPS 100
#define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates #define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates
PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig, #define RC_COMMAND_THROTTLE_RANGE (PWM_RANGE_MAX - PWM_RANGE_MIN)
.mixerMode = DEFAULT_MIXER,
.yaw_motors_reversed = false,
.crashflip_motor_percent = 0,
.crashflip_expo = 35
);
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
#define PWM_RANGE_MID 1500
static FAST_DATA_ZERO_INIT uint8_t motorCount;
static FAST_DATA_ZERO_INIT float motorMixRange; static FAST_DATA_ZERO_INIT float motorMixRange;
float FAST_DATA_ZERO_INIT motor[MAX_SUPPORTED_MOTORS]; float FAST_DATA_ZERO_INIT motor[MAX_SUPPORTED_MOTORS];
float motor_disarmed[MAX_SUPPORTED_MOTORS]; float motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
#ifdef USE_LAUNCH_CONTROL
static motorMixer_t launchControlMixer[MAX_SUPPORTED_MOTORS];
#endif
static FAST_DATA_ZERO_INIT int throttleAngleCorrection; static FAST_DATA_ZERO_INIT int throttleAngleCorrection;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
#ifndef USE_QUAD_MIXER_ONLY
static const motorMixer_t mixerTricopter[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
};
static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerBicopter[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
};
#else
#define mixerBicopter NULL
#endif
static const motorMixer_t mixerY4[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
};
#if (MAX_SUPPORTED_MOTORS >= 6)
static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerHex6H[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT
{ 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT
};
static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
};
static const motorMixer_t mixerY6[] = {
{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
};
#else
#define mixerHex6H NULL
#define mixerHex6P NULL
#define mixerY6 NULL
#endif // USE_UNCOMMON_MIXERS
#else
#define mixerHex6X NULL
#endif // MAX_SUPPORTED_MOTORS >= 6
#if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
static const motorMixer_t mixerOctoX8[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R
{ 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R
{ 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L
{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
};
static const motorMixer_t mixerOctoFlatP[] = {
{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
{ 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R
{ 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT
};
static const motorMixer_t mixerOctoFlatX[] = {
{ 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L
{ 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R
{ 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R
{ 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L
};
#else
#define mixerOctoX8 NULL
#define mixerOctoFlatP NULL
#define mixerOctoFlatX NULL
#endif
static const motorMixer_t mixerVtail4[] = {
{ 1.0f, -0.58f, 0.58f, 1.0f }, // REAR_R
{ 1.0f, -0.46f, -0.39f, -0.5f }, // FRONT_R
{ 1.0f, 0.58f, 0.58f, -1.0f }, // REAR_L
{ 1.0f, 0.46f, -0.39f, 0.5f }, // FRONT_L
};
static const motorMixer_t mixerAtail4[] = {
{ 1.0f, -0.58f, 0.58f, -1.0f }, // REAR_R
{ 1.0f, -0.46f, -0.39f, 0.5f }, // FRONT_R
{ 1.0f, 0.58f, 0.58f, 1.0f }, // REAR_L
{ 1.0f, 0.46f, -0.39f, -0.5f }, // FRONT_L
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerDualcopter[] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
};
#else
#define mixerDualcopter NULL
#endif
static const motorMixer_t mixerSingleProp[] = {
{ 1.0f, 0.0f, 0.0f, 0.0f },
};
static const motorMixer_t mixerQuadX1234[] = {
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
};
// Keep synced with mixerMode_e
// Some of these entries are bogus when servos (USE_SERVOS) are not configured,
// but left untouched to keep ordinals synced with mixerMode_e (and configurator).
const mixer_t mixers[] = {
// motors, use servo, motor mixer
{ 0, false, NULL }, // entry 0
{ 3, true, mixerTricopter }, // MIXER_TRI
{ 4, false, mixerQuadP }, // MIXER_QUADP
{ 4, false, mixerQuadX }, // MIXER_QUADX
{ 2, true, mixerBicopter }, // MIXER_BICOPTER
{ 0, true, NULL }, // * MIXER_GIMBAL
{ 6, false, mixerY6 }, // MIXER_Y6
{ 6, false, mixerHex6P }, // MIXER_HEX6
{ 1, true, mixerSingleProp }, // * MIXER_FLYING_WING
{ 4, false, mixerY4 }, // MIXER_Y4
{ 6, false, mixerHex6X }, // MIXER_HEX6X
{ 8, false, mixerOctoX8 }, // MIXER_OCTOX8
{ 8, false, mixerOctoFlatP }, // MIXER_OCTOFLATP
{ 8, false, mixerOctoFlatX }, // MIXER_OCTOFLATX
{ 1, true, mixerSingleProp }, // * MIXER_AIRPLANE
{ 1, true, mixerSingleProp }, // * MIXER_HELI_120_CCPM
{ 0, true, NULL }, // * MIXER_HELI_90_DEG
{ 4, false, mixerVtail4 }, // MIXER_VTAIL4
{ 6, false, mixerHex6H }, // MIXER_HEX6H
{ 0, true, NULL }, // * MIXER_PPM_TO_SERVO
{ 2, true, mixerDualcopter }, // MIXER_DUALCOPTER
{ 1, true, NULL }, // MIXER_SINGLECOPTER
{ 4, false, mixerAtail4 }, // MIXER_ATAIL4
{ 0, false, NULL }, // MIXER_CUSTOM
{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
{ 3, true, NULL }, // MIXER_CUSTOM_TRI
{ 4, false, mixerQuadX1234 },
};
#endif // !USE_QUAD_MIXER_ONLY
static FAST_DATA_ZERO_INIT bool feature3dEnabled;
static FAST_DATA_ZERO_INIT float motorOutputLow;
static FAST_DATA_ZERO_INIT float motorOutputHigh;
static FAST_DATA_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static FAST_DATA_ZERO_INIT float rcCommandThrottleRange;
#ifdef USE_DYN_IDLE
static FAST_DATA_ZERO_INIT float idleMaxIncrease;
static FAST_DATA_ZERO_INIT float idleThrottleOffset;
static FAST_DATA_ZERO_INIT float idleMinMotorRps;
static FAST_DATA_ZERO_INIT float idleP;
static FAST_DATA_ZERO_INIT float oldMinRps;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
static FAST_DATA_ZERO_INIT float vbatSagCompensationFactor;
static FAST_DATA_ZERO_INIT float vbatFull;
static FAST_DATA_ZERO_INIT float vbatRangeToCompensate;
#endif
uint8_t getMotorCount(void)
{
return motorCount;
}
float getMotorMixRange(void) float getMotorMixRange(void)
{ {
return motorMixRange; return motorMixRange;
} }
bool areMotorsRunning(void)
{
bool motorsRunning = false;
if (ARMING_FLAG(ARMED)) {
motorsRunning = true;
} else {
for (int i = 0; i < motorCount; i++) {
if (motor_disarmed[i] != disarmMotorOutput) {
motorsRunning = true;
break;
}
}
}
return motorsRunning;
}
#ifdef USE_SERVOS
bool mixerIsTricopter(void)
{
return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
}
#endif
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)
{
float motorOutputLimit = 1.0f;
if (currentPidProfile->motor_output_limit < 100) {
motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
}
motorInitEndpoints(motorConfig(), motorOutputLimit, &motorOutputLow, &motorOutputHigh, &disarmMotorOutput, &deadbandMotor3dHigh, &deadbandMotor3dLow);
if (!feature3dEnabled && currentPidProfile->idle_min_rpm) {
motorOutputLow = DSHOT_MIN_THROTTLE;
}
rcCommandThrottleRange = PWM_RANGE_MAX - PWM_RANGE_MIN;
}
// Initialize pidProfile related mixer settings
void mixerInitProfile(void)
{
#ifdef USE_DYN_IDLE
idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
idleP = currentPidProfile->idle_p * 0.0001f;
oldMinRps = 0;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
vbatSagCompensationFactor = 0.0f;
if (currentPidProfile->vbat_sag_compensation > 0) {
//TODO: Make this voltage user configurable
vbatFull = CELL_VOLTAGE_FULL_CV;
vbatRangeToCompensate = vbatFull - batteryConfig()->vbatwarningcellvoltage;
if (vbatRangeToCompensate > 0) {
vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
}
}
#endif
}
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
mixerTricopterInit();
}
#endif
#ifdef USE_DYN_IDLE
idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
#endif
mixerInitProfile();
}
#ifdef USE_LAUNCH_CONTROL
// Create a custom mixer for launch control based on the current settings
// but disable the front motors. We don't care about roll or yaw because they
// are limited in the PID controller.
void loadLaunchControlMixer(void)
{
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
launchControlMixer[i] = currentMixer[i];
// limit the front motors to minimum output
if (launchControlMixer[i].pitch < 0.0f) {
launchControlMixer[i].pitch = 0.0f;
launchControlMixer[i].throttle = 0.0f;
}
}
}
#endif
#ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void)
{
motorCount = 0;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMotorMixer(i)->throttle == 0.0f) {
break;
}
currentMixer[i] = *customMotorMixer(i);
motorCount++;
}
} else {
motorCount = mixers[currentMixerMode].motorCount;
if (motorCount > MAX_SUPPORTED_MOTORS) {
motorCount = MAX_SUPPORTED_MOTORS;
}
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (int i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
#ifdef USE_LAUNCH_CONTROL
loadLaunchControlMixer();
#endif
mixerResetDisarmedMotors();
}
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
// we're 1-based
index++;
// clear existing
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
customMixers[i].throttle = 0.0f;
}
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (int i = 0; i < mixers[index].motorCount; i++) {
customMixers[i] = mixers[index].motor[i];
}
}
}
#else
void mixerConfigureOutput(void)
{
motorCount = QUAD_MOTOR_COUNT;
for (int i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
#ifdef USE_LAUNCH_CONTROL
loadLaunchControlMixer();
#endif
mixerResetDisarmedMotors();
}
#endif // USE_QUAD_MIXER_ONLY
void mixerResetDisarmedMotors(void)
{
// set disarmed motor values
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
motor_disarmed[i] = disarmMotorOutput;
}
}
void writeMotors(void) void writeMotors(void)
{ {
motorWriteAll(motor); motorWriteAll(motor);
@ -493,7 +87,7 @@ void writeMotors(void)
static void writeAllMotors(int16_t mc) static void writeAllMotors(int16_t mc)
{ {
// Sends commands to all motors // Sends commands to all motors
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motor[i] = mc; motor[i] = mc;
} }
writeMotors(); writeMotors();
@ -501,7 +95,7 @@ static void writeAllMotors(int16_t mc)
void stopMotors(void) void stopMotors(void)
{ {
writeAllMotors(disarmMotorOutput); writeAllMotors(mixerRuntime.disarmMotorOutput);
delay(50); // give the timers and ESCs a chance to react. delay(50); // give the timers and ESCs a chance to react.
} }
@ -521,7 +115,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static float motorRangeMinIncrease = 0; static float motorRangeMinIncrease = 0;
float currentThrottleInputRange = 0; float currentThrottleInputRange = 0;
if (feature3dEnabled) { if (mixerRuntime.feature3dEnabled) {
uint16_t rcCommand3dDeadBandLow; uint16_t rcCommand3dDeadBandLow;
uint16_t rcCommand3dDeadBandHigh; uint16_t rcCommand3dDeadBandHigh;
@ -546,17 +140,17 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow || isFlipOverAfterCrashActive()) { if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow || isFlipOverAfterCrashActive()) {
// INVERTED // INVERTED
motorRangeMin = motorOutputLow; motorRangeMin = mixerRuntime.motorOutputLow;
motorRangeMax = deadbandMotor3dLow; motorRangeMax = mixerRuntime.deadbandMotor3dLow;
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {
motorOutputMin = motorOutputLow; motorOutputMin = mixerRuntime.motorOutputLow;
motorOutputRange = deadbandMotor3dLow - motorOutputLow; motorOutputRange = mixerRuntime.deadbandMotor3dLow - mixerRuntime.motorOutputLow;
} else } else
#endif #endif
{ {
motorOutputMin = deadbandMotor3dLow; motorOutputMin = mixerRuntime.deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow; motorOutputRange = mixerRuntime.motorOutputLow - mixerRuntime.deadbandMotor3dLow;
} }
if (motorOutputMixSign != -1) { if (motorOutputMixSign != -1) {
@ -569,10 +163,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
currentThrottleInputRange = rcCommandThrottleRange3dLow; currentThrottleInputRange = rcCommandThrottleRange3dLow;
} else if (rcCommand[THROTTLE] >= rcCommand3dDeadBandHigh) { } else if (rcCommand[THROTTLE] >= rcCommand3dDeadBandHigh) {
// NORMAL // NORMAL
motorRangeMin = deadbandMotor3dHigh; motorRangeMin = mixerRuntime.deadbandMotor3dHigh;
motorRangeMax = motorOutputHigh; motorRangeMax = mixerRuntime.motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh; motorOutputMin = mixerRuntime.deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh; motorOutputRange = mixerRuntime.motorOutputHigh - mixerRuntime.deadbandMotor3dHigh;
if (motorOutputMixSign != 1) { if (motorOutputMixSign != 1) {
reversalTimeUs = currentTimeUs; reversalTimeUs = currentTimeUs;
} }
@ -584,18 +178,18 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
!flight3DConfigMutable()->switched_mode3d) || !flight3DConfigMutable()->switched_mode3d) ||
isMotorsReversed()) { isMotorsReversed()) {
// INVERTED_TO_DEADBAND // INVERTED_TO_DEADBAND
motorRangeMin = motorOutputLow; motorRangeMin = mixerRuntime.motorOutputLow;
motorRangeMax = deadbandMotor3dLow; motorRangeMax = mixerRuntime.deadbandMotor3dLow;
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {
motorOutputMin = motorOutputLow; motorOutputMin = mixerRuntime.motorOutputLow;
motorOutputRange = deadbandMotor3dLow - motorOutputLow; motorOutputRange = mixerRuntime.deadbandMotor3dLow - mixerRuntime.motorOutputLow;
} else } else
#endif #endif
{ {
motorOutputMin = deadbandMotor3dLow; motorOutputMin = mixerRuntime.deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow; motorOutputRange = mixerRuntime.motorOutputLow - mixerRuntime.deadbandMotor3dLow;
} }
if (motorOutputMixSign != -1) { if (motorOutputMixSign != -1) {
@ -607,10 +201,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
currentThrottleInputRange = rcCommandThrottleRange3dLow; currentThrottleInputRange = rcCommandThrottleRange3dLow;
} else { } else {
// NORMAL_TO_DEADBAND // NORMAL_TO_DEADBAND
motorRangeMin = deadbandMotor3dHigh; motorRangeMin = mixerRuntime.deadbandMotor3dHigh;
motorRangeMax = motorOutputHigh; motorRangeMax = mixerRuntime.motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh; motorOutputMin = mixerRuntime.deadbandMotor3dHigh;
motorOutputRange = motorOutputHigh - deadbandMotor3dHigh; motorOutputRange = mixerRuntime.motorOutputHigh - mixerRuntime.deadbandMotor3dHigh;
if (motorOutputMixSign != 1) { if (motorOutputMixSign != 1) {
reversalTimeUs = currentTimeUs; reversalTimeUs = currentTimeUs;
} }
@ -625,15 +219,15 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
} else { } else {
throttle = rcCommand[THROTTLE] - PWM_RANGE_MIN + throttleAngleCorrection; throttle = rcCommand[THROTTLE] - PWM_RANGE_MIN + throttleAngleCorrection;
#ifdef USE_DYN_IDLE #ifdef USE_DYN_IDLE
if (idleMinMotorRps > 0.0f) { if (mixerRuntime.idleMinMotorRps > 0.0f) {
const float maxIncrease = isAirmodeActivated() ? idleMaxIncrease : 0.04f; const float maxIncrease = isAirmodeActivated() ? mixerRuntime.idleMaxIncrease : 0.04f;
const float minRps = rpmMinMotorFrequency(); const float minRps = rpmMinMotorFrequency();
const float targetRpsChangeRate = (idleMinMotorRps - minRps) * currentPidProfile->idle_adjustment_speed; const float targetRpsChangeRate = (mixerRuntime.idleMinMotorRps - minRps) * currentPidProfile->idle_adjustment_speed;
const float error = targetRpsChangeRate - (minRps - oldMinRps) * pidGetPidFrequency(); const float error = targetRpsChangeRate - (minRps - mixerRuntime.oldMinRps) * pidGetPidFrequency();
const float pidSum = constrainf(idleP * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit); const float pidSum = constrainf(mixerRuntime.idleP * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease); motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease);
oldMinRps = minRps; mixerRuntime.oldMinRps = minRps;
throttle += idleThrottleOffset * rcCommandThrottleRange; throttle += mixerRuntime.idleThrottleOffset * RC_COMMAND_THROTTLE_RANGE;
DEBUG_SET(DEBUG_DYN_IDLE, 0, motorRangeMinIncrease * 1000); DEBUG_SET(DEBUG_DYN_IDLE, 0, motorRangeMinIncrease * 1000);
DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate); DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate);
@ -647,21 +241,21 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION) #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
float motorRangeAttenuationFactor = 0; float motorRangeAttenuationFactor = 0;
// reduce motorRangeMax when battery is full // reduce motorRangeMax when battery is full
if (vbatSagCompensationFactor > 0.0f) { if (mixerRuntime.vbatSagCompensationFactor > 0.0f) {
const uint16_t currentCellVoltage = getBatterySagCellVoltage(); const uint16_t currentCellVoltage = getBatterySagCellVoltage();
// batteryGoodness = 1 when voltage is above vbatFull, and 0 when voltage is below vbatLow // batteryGoodness = 1 when voltage is above vbatFull, and 0 when voltage is below vbatLow
float batteryGoodness = 1.0f - constrainf((vbatFull - currentCellVoltage) / vbatRangeToCompensate, 0.0f, 1.0f); float batteryGoodness = 1.0f - constrainf((mixerRuntime.vbatFull - currentCellVoltage) / mixerRuntime.vbatRangeToCompensate, 0.0f, 1.0f);
motorRangeAttenuationFactor = (vbatRangeToCompensate / vbatFull) * batteryGoodness * vbatSagCompensationFactor; motorRangeAttenuationFactor = (mixerRuntime.vbatRangeToCompensate / mixerRuntime.vbatFull) * batteryGoodness * mixerRuntime.vbatSagCompensationFactor;
DEBUG_SET(DEBUG_BATTERY, 2, batteryGoodness * 100); DEBUG_SET(DEBUG_BATTERY, 2, batteryGoodness * 100);
DEBUG_SET(DEBUG_BATTERY, 3, motorRangeAttenuationFactor * 1000); DEBUG_SET(DEBUG_BATTERY, 3, motorRangeAttenuationFactor * 1000);
} }
motorRangeMax = motorOutputHigh - motorRangeAttenuationFactor * (motorOutputHigh - motorOutputLow); motorRangeMax = mixerRuntime.motorOutputHigh - motorRangeAttenuationFactor * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
#else #else
motorRangeMax = motorOutputHigh; motorRangeMax = mixerRuntime.motorOutputHigh;
#endif #endif
currentThrottleInputRange = rcCommandThrottleRange; currentThrottleInputRange = RC_COMMAND_THROTTLE_RANGE;
motorRangeMin = motorOutputLow + motorRangeMinIncrease * (motorOutputHigh - motorOutputLow); motorRangeMin = mixerRuntime.motorOutputLow + motorRangeMinIncrease * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
motorOutputMin = motorRangeMin; motorOutputMin = motorRangeMin;
motorOutputRange = motorRangeMax - motorRangeMin; motorOutputRange = motorRangeMax - motorRangeMin;
motorOutputMixSign = 1; motorOutputMixSign = 1;
@ -720,11 +314,11 @@ static void applyFlipOverAfterCrashModeToMotors(void)
const float flipStickRange = 1.0f - crashFlipStickMinExpo; const float flipStickRange = 1.0f - crashFlipStickMinExpo;
const float flipPower = MAX(0.0f, stickDeflectionExpoLength - crashFlipStickMinExpo) / flipStickRange; const float flipPower = MAX(0.0f, stickDeflectionExpoLength - crashFlipStickMinExpo) / flipStickRange;
for (int i = 0; i < motorCount; ++i) { for (int i = 0; i < mixerRuntime.motorCount; ++i) {
float motorOutputNormalised = float motorOutputNormalised =
signPitch*currentMixer[i].pitch + signPitch * mixerRuntime.currentMixer[i].pitch +
signRoll*currentMixer[i].roll + signRoll * mixerRuntime.currentMixer[i].roll +
signYaw*currentMixer[i].yaw; signYaw * mixerRuntime.currentMixer[i].yaw;
if (motorOutputNormalised < 0) { if (motorOutputNormalised < 0) {
if (mixerConfig()->crashflip_motor_percent > 0) { if (mixerConfig()->crashflip_motor_percent > 0) {
@ -737,13 +331,13 @@ static void applyFlipOverAfterCrashModeToMotors(void)
float motorOutput = motorOutputMin + motorOutputNormalised * motorOutputRange; float motorOutput = motorOutputMin + motorOutputNormalised * motorOutputRange;
// Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered // Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered
motorOutput = (motorOutput < motorOutputMin + CRASH_FLIP_DEADBAND) ? disarmMotorOutput : (motorOutput - CRASH_FLIP_DEADBAND); motorOutput = (motorOutput < motorOutputMin + CRASH_FLIP_DEADBAND) ? mixerRuntime.disarmMotorOutput : (motorOutput - CRASH_FLIP_DEADBAND);
motor[i] = motorOutput; motor[i] = motorOutput;
} }
} else { } else {
// Disarmed mode // Disarmed mode
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motor[i] = motor_disarmed[i]; motor[i] = motor_disarmed[i];
} }
} }
@ -753,7 +347,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
{ {
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips. // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
float motorOutput = motorOutputMixSign * motorMix[i] + throttle * activeMixer[i].throttle; float motorOutput = motorOutputMixSign * motorMix[i] + throttle * activeMixer[i].throttle;
#ifdef USE_THRUST_LINEARIZATION #ifdef USE_THRUST_LINEARIZATION
motorOutput = pidApplyThrustLinearization(motorOutput); motorOutput = pidApplyThrustLinearization(motorOutput);
@ -768,10 +362,10 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
if (failsafeIsActive()) { if (failsafeIsActive()) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range motorOutput = (motorOutput < motorRangeMin) ? mixerRuntime.disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
} }
#endif #endif
motorOutput = constrain(motorOutput, disarmMotorOutput, motorRangeMax); motorOutput = constrain(motorOutput, mixerRuntime.disarmMotorOutput, motorRangeMax);
} else { } else {
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax); motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
} }
@ -780,7 +374,7 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
// Disarmed mode // Disarmed mode
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motor[i] = motor_disarmed[i]; motor[i] = motor_disarmed[i];
} }
} }
@ -803,8 +397,8 @@ static float applyThrottleLimit(float throttle)
static void applyMotorStop(void) static void applyMotorStop(void)
{ {
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motor[i] = disarmMotorOutput; motor[i] = mixerRuntime.disarmMotorOutput;
} }
} }
@ -841,10 +435,10 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
const bool launchControlActive = isLaunchControlActive(); const bool launchControlActive = isLaunchControlActive();
motorMixer_t * activeMixer = &currentMixer[0]; motorMixer_t * activeMixer = &mixerRuntime.currentMixer[0];
#ifdef USE_LAUNCH_CONTROL #ifdef USE_LAUNCH_CONTROL
if (launchControlActive && (currentPidProfile->launchControlMode == LAUNCH_CONTROL_MODE_PITCHONLY)) { if (launchControlActive && (currentPidProfile->launchControlMode == LAUNCH_CONTROL_MODE_PITCHONLY)) {
activeMixer = &launchControlMixer[0]; activeMixer = &mixerRuntime.launchControlMixer[0];
} }
#endif #endif
@ -896,7 +490,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
// Find roll/pitch/yaw desired output // Find roll/pitch/yaw desired output
float motorMix[MAX_SUPPORTED_MOTORS]; float motorMix[MAX_SUPPORTED_MOTORS];
float motorMixMax = 0, motorMixMin = 0; float motorMixMax = 0, motorMixMin = 0;
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
float mix = float mix =
scaledAxisPidRoll * activeMixer[i].roll + scaledAxisPidRoll * activeMixer[i].roll +
@ -946,7 +540,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
motorMixRange = motorMixMax - motorMixMin; motorMixRange = motorMixMax - motorMixMin;
if (motorMixRange > 1.0f) { if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motorMix[i] /= motorMixRange; motorMix[i] /= motorMixRange;
} }
// Get the maximum correction by setting offset to center when airmode enabled // Get the maximum correction by setting offset to center when airmode enabled
@ -968,7 +562,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
if (featureIsEnabled(FEATURE_MOTOR_STOP) if (featureIsEnabled(FEATURE_MOTOR_STOP)
&& ARMING_FLAG(ARMED) && ARMING_FLAG(ARMED)
&& !feature3dEnabled && !mixerRuntime.feature3dEnabled
&& !airmodeEnabled && !airmodeEnabled
&& !FLIGHT_MODE(GPS_RESCUE_MODE) // disable motor_stop while GPS Rescue is active && !FLIGHT_MODE(GPS_RESCUE_MODE) // disable motor_stop while GPS Rescue is active
&& (rcData[THROTTLE] < rxConfig()->mincheck)) { && (rcData[THROTTLE] < rxConfig()->mincheck)) {
@ -989,39 +583,3 @@ float mixerGetThrottle(void)
{ {
return mixerThrottle; return mixerThrottle;
} }
mixerMode_e getMixerMode(void)
{
return currentMixerMode;
}
bool mixerModeIsFixedWing(mixerMode_e mixerMode)
{
switch (mixerMode) {
case MIXER_FLYING_WING:
case MIXER_AIRPLANE:
case MIXER_CUSTOM_AIRPLANE:
return true;
break;
default:
return false;
break;
}
}
bool isFixedWing(void)
{
return mixerModeIsFixedWing(currentMixerMode);
}
float getMotorOutputLow(void)
{
return motorOutputLow;
}
float getMotorOutputHigh(void)
{
return motorOutputHigh;
}

459
src/main/flight/mixer_init.c Normal file
View file

@ -0,0 +1,459 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/dshot.h"
#include "fc/controlrate_profile.h"
#include "fc/runtime_config.h"
#include "flight/mixer_tricopter.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "sensors/battery.h"
#include "mixer_init.h"
PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = DEFAULT_MIXER,
.yaw_motors_reversed = false,
.crashflip_motor_percent = 0,
.crashflip_expo = 35
);
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
mixerMode_e currentMixerMode;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
#ifndef USE_QUAD_MIXER_ONLY
static const motorMixer_t mixerTricopter[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
};
static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerBicopter[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
};
#else
#define mixerBicopter NULL
#endif
static const motorMixer_t mixerY4[] = {
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
};
#if (MAX_SUPPORTED_MOTORS >= 6)
static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerHex6H[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT
{ 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT
};
static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
};
static const motorMixer_t mixerY6[] = {
{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
};
#else
#define mixerHex6H NULL
#define mixerHex6P NULL
#define mixerY6 NULL
#endif // USE_UNCOMMON_MIXERS
#else
#define mixerHex6X NULL
#endif // MAX_SUPPORTED_MOTORS >= 6
#if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
static const motorMixer_t mixerOctoX8[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R
{ 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R
{ 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L
{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
};
static const motorMixer_t mixerOctoFlatP[] = {
{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
{ 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R
{ 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
{ 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT
};
static const motorMixer_t mixerOctoFlatX[] = {
{ 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L
{ 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R
{ 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R
{ 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L
};
#else
#define mixerOctoX8 NULL
#define mixerOctoFlatP NULL
#define mixerOctoFlatX NULL
#endif
static const motorMixer_t mixerVtail4[] = {
{ 1.0f, -0.58f, 0.58f, 1.0f }, // REAR_R
{ 1.0f, -0.46f, -0.39f, -0.5f }, // FRONT_R
{ 1.0f, 0.58f, 0.58f, -1.0f }, // REAR_L
{ 1.0f, 0.46f, -0.39f, 0.5f }, // FRONT_L
};
static const motorMixer_t mixerAtail4[] = {
{ 1.0f, -0.58f, 0.58f, -1.0f }, // REAR_R
{ 1.0f, -0.46f, -0.39f, 0.5f }, // FRONT_R
{ 1.0f, 0.58f, 0.58f, 1.0f }, // REAR_L
{ 1.0f, 0.46f, -0.39f, -0.5f }, // FRONT_L
};
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerDualcopter[] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
};
#else
#define mixerDualcopter NULL
#endif
static const motorMixer_t mixerSingleProp[] = {
{ 1.0f, 0.0f, 0.0f, 0.0f },
};
static const motorMixer_t mixerQuadX1234[] = {
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
};
// Keep synced with mixerMode_e
// Some of these entries are bogus when servos (USE_SERVOS) are not configured,
// but left untouched to keep ordinals synced with mixerMode_e (and configurator).
const mixer_t mixers[] = {
// motors, use servo, motor mixer
{ 0, false, NULL }, // entry 0
{ 3, true, mixerTricopter }, // MIXER_TRI
{ 4, false, mixerQuadP }, // MIXER_QUADP
{ 4, false, mixerQuadX }, // MIXER_QUADX
{ 2, true, mixerBicopter }, // MIXER_BICOPTER
{ 0, true, NULL }, // * MIXER_GIMBAL
{ 6, false, mixerY6 }, // MIXER_Y6
{ 6, false, mixerHex6P }, // MIXER_HEX6
{ 1, true, mixerSingleProp }, // * MIXER_FLYING_WING
{ 4, false, mixerY4 }, // MIXER_Y4
{ 6, false, mixerHex6X }, // MIXER_HEX6X
{ 8, false, mixerOctoX8 }, // MIXER_OCTOX8
{ 8, false, mixerOctoFlatP }, // MIXER_OCTOFLATP
{ 8, false, mixerOctoFlatX }, // MIXER_OCTOFLATX
{ 1, true, mixerSingleProp }, // * MIXER_AIRPLANE
{ 1, true, mixerSingleProp }, // * MIXER_HELI_120_CCPM
{ 0, true, NULL }, // * MIXER_HELI_90_DEG
{ 4, false, mixerVtail4 }, // MIXER_VTAIL4
{ 6, false, mixerHex6H }, // MIXER_HEX6H
{ 0, true, NULL }, // * MIXER_PPM_TO_SERVO
{ 2, true, mixerDualcopter }, // MIXER_DUALCOPTER
{ 1, true, NULL }, // MIXER_SINGLECOPTER
{ 4, false, mixerAtail4 }, // MIXER_ATAIL4
{ 0, false, NULL }, // MIXER_CUSTOM
{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
{ 3, true, NULL }, // MIXER_CUSTOM_TRI
{ 4, false, mixerQuadX1234 },
};
#endif // !USE_QUAD_MIXER_ONLY
FAST_DATA_ZERO_INIT mixerRuntime_t mixerRuntime;
uint8_t getMotorCount(void)
{
return mixerRuntime.motorCount;
}
bool areMotorsRunning(void)
{
bool motorsRunning = false;
if (ARMING_FLAG(ARMED)) {
motorsRunning = true;
} else {
for (int i = 0; i < mixerRuntime.motorCount; i++) {
if (motor_disarmed[i] != mixerRuntime.disarmMotorOutput) {
motorsRunning = true;
break;
}
}
}
return motorsRunning;
}
#ifdef USE_SERVOS
bool mixerIsTricopter(void)
{
return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
}
#endif
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)
{
float motorOutputLimit = 1.0f;
if (currentPidProfile->motor_output_limit < 100) {
motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
}
motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
if (!mixerRuntime.feature3dEnabled && currentPidProfile->idle_min_rpm) {
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
}
}
// Initialize pidProfile related mixer settings
void mixerInitProfile(void)
{
#ifdef USE_DYN_IDLE
mixerRuntime.idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
mixerRuntime.idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
mixerRuntime.idleP = currentPidProfile->idle_p * 0.0001f;
mixerRuntime.oldMinRps = 0;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
mixerRuntime.vbatSagCompensationFactor = 0.0f;
if (currentPidProfile->vbat_sag_compensation > 0) {
//TODO: Make this voltage user configurable
mixerRuntime.vbatFull = CELL_VOLTAGE_FULL_CV;
mixerRuntime.vbatRangeToCompensate = mixerRuntime.vbatFull - batteryConfig()->vbatwarningcellvoltage;
if (mixerRuntime.vbatRangeToCompensate > 0) {
mixerRuntime.vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
}
}
#endif
}
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
mixerTricopterInit();
}
#endif
#ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f;
#endif
}
#ifdef USE_LAUNCH_CONTROL
// Create a custom mixer for launch control based on the current settings
// but disable the front motors. We don't care about roll or yaw because they
// are limited in the PID controller.
void loadLaunchControlMixer(void)
{
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
mixerRuntime.launchControlMixer[i] = mixerRuntime.currentMixer[i];
// limit the front motors to minimum output
if (mixerRuntime.launchControlMixer[i].pitch < 0.0f) {
mixerRuntime.launchControlMixer[i].pitch = 0.0f;
mixerRuntime.launchControlMixer[i].throttle = 0.0f;
}
}
}
#endif
#ifndef USE_QUAD_MIXER_ONLY
void mixerConfigureOutput(void)
{
mixerRuntime.motorCount = 0;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMotorMixer(i)->throttle == 0.0f) {
break;
}
mixerRuntime.currentMixer[i] = *customMotorMixer(i);
mixerRuntime.motorCount++;
}
} else {
mixerRuntime.motorCount = mixers[currentMixerMode].motorCount;
if (mixerRuntime.motorCount > MAX_SUPPORTED_MOTORS) {
mixerRuntime.motorCount = MAX_SUPPORTED_MOTORS;
}
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (int i = 0; i < mixerRuntime.motorCount; i++)
mixerRuntime.currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
#ifdef USE_LAUNCH_CONTROL
loadLaunchControlMixer();
#endif
mixerResetDisarmedMotors();
}
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
// we're 1-based
index++;
// clear existing
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
customMixers[i].throttle = 0.0f;
}
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (int i = 0; i < mixers[index].motorCount; i++) {
customMixers[i] = mixers[index].motor[i];
}
}
}
#else
void mixerConfigureOutput(void)
{
mixerRuntime.motorCount = QUAD_MOTOR_COUNT;
for (int i = 0; i < mixerRuntime.motorCount; i++) {
mixerRuntime.currentMixer[i] = mixerQuadX[i];
}
#ifdef USE_LAUNCH_CONTROL
loadLaunchControlMixer();
#endif
mixerResetDisarmedMotors();
}
#endif // USE_QUAD_MIXER_ONLY
void mixerResetDisarmedMotors(void)
{
// set disarmed motor values
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
motor_disarmed[i] = mixerRuntime.disarmMotorOutput;
}
}
mixerMode_e getMixerMode(void)
{
return currentMixerMode;
}
bool mixerModeIsFixedWing(mixerMode_e mixerMode)
{
switch (mixerMode) {
case MIXER_FLYING_WING:
case MIXER_AIRPLANE:
case MIXER_CUSTOM_AIRPLANE:
return true;
break;
default:
return false;
break;
}
}
bool isFixedWing(void)
{
return mixerModeIsFixedWing(currentMixerMode);
}
float getMotorOutputLow(void)
{
return mixerRuntime.motorOutputLow;
}
float getMotorOutputHigh(void)
{
return mixerRuntime.motorOutputHigh;
}

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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "platform.h"
#include "flight/mixer.h"
typedef struct mixerRuntime_s {
uint8_t motorCount;
motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
#ifdef USE_LAUNCH_CONTROL
motorMixer_t launchControlMixer[MAX_SUPPORTED_MOTORS];
#endif
bool feature3dEnabled;
float motorOutputLow;
float motorOutputHigh;
float disarmMotorOutput;
float deadbandMotor3dHigh;
float deadbandMotor3dLow;
#ifdef USE_DYN_IDLE
float idleMaxIncrease;
float idleThrottleOffset;
float idleMinMotorRps;
float idleP;
float oldMinRps;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
float vbatSagCompensationFactor;
float vbatFull;
float vbatRangeToCompensate;
#endif
} mixerRuntime_t;
extern mixerRuntime_t mixerRuntime;