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Disable uncommon mixers for ROM saving

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This commit is contained in:
Martin Budden 2017-04-03 10:59:46 +01:00
parent f2fa06e52e
commit f24865d9a0
2 changed files with 58 additions and 31 deletions
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86
src/main/flight/mixer.c
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@ -146,18 +146,41 @@ static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
}; };
#if defined(USE_UNCOMMON_MIXERS)
static const motorMixer_t mixerBicopter[] = { static const motorMixer_t mixerBicopter[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
}; };
#else
#define mixerBicopter NULL
#endif
static const motorMixer_t mixerY6[] = { static const motorMixer_t mixerY4[] = {
{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT };
{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
#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[] = { static const motorMixer_t mixerHex6P[] = {
@ -168,23 +191,24 @@ static const motorMixer_t mixerHex6P[] = {
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
}; };
static const motorMixer_t mixerY6[] = {
static const motorMixer_t mixerY4[] = { { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
}; { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
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
}; };
#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[] = { static const motorMixer_t mixerOctoX8[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 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 }, // FRONT_R
@ -217,6 +241,11 @@ static const motorMixer_t mixerOctoFlatX[] = {
{ 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L { 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[] = { static const motorMixer_t mixerVtail4[] = {
{ 1.0f, -0.58f, 0.58f, 1.0f }, // REAR_R { 1.0f, -0.58f, 0.58f, 1.0f }, // REAR_R
@ -232,19 +261,14 @@ static const motorMixer_t mixerAtail4[] = {
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
}; };
static const motorMixer_t mixerHex6H[] = { #if defined(USE_UNCOMMON_MIXERS)
{ 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 mixerDualcopter[] = { static const motorMixer_t mixerDualcopter[] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
}; };
#else
#define mixerDualcopter NULL
#endif
static const motorMixer_t mixerSingleProp[] = { static const motorMixer_t mixerSingleProp[] = {
{ 1.0f, 0.0f, 0.0f, 0.0f }, { 1.0f, 0.0f, 0.0f, 0.0f },

3
src/main/target/common.h
View file

@ -112,3 +112,6 @@
#define VTX_TRAMP #define VTX_TRAMP
#endif #endif
#if (FLASH_SIZE > 256)
#define USE_UNCOMMON_MIXERS
#endif