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Update mixer to use servo count from results of pwm mapping.

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Also ensure that only aux channels for which there are available servos
are used when forwarding channels.

Removed magic number usage.
This commit is contained in:
Dominic Clifton 2014-06-11 19:05:03 +01:00
parent 51366ed629
commit fd59a4cd52
5 changed files with 43 additions and 22 deletions
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27
src/main/flight/mixer.c
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@ -27,6 +27,7 @@
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h"
#include "rx/rx.h"
#include "io/gimbal.h"
@ -39,6 +40,7 @@
#include "config/runtime_config.h"
#include "config/config.h"
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
static uint8_t numberMotor = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
@ -47,6 +49,8 @@ int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500
static int useServo;
static uint8_t servoCount;
static servoParam_t *servoConf;
static mixerConfig_t *mixerConfig;
static flight3DConfig_t *flight3DConfig;
@ -239,12 +243,14 @@ int servoDirection(int nr, int lr)
return 1;
}
void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers)
void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers, pwmOutputConfiguration_t *pwmOutputConfiguration)
{
int i;
currentMixerConfiguration = mixerConfiguration;
servoCount = pwmOutputConfiguration->servoCount;
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[mixerConfiguration].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
@ -536,15 +542,20 @@ void mixTable(void)
// forward AUX1-4 to servo outputs (not constrained)
if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
int offset = 0;
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
if (currentMixerConfiguration == MULTITYPE_AIRPLANE || currentMixerConfiguration == MULTITYPE_FLYING_WING)
offset = 4;
else if (mixers[currentMixerConfiguration].useServo)
offset = 2;
for (i = 0; i < 4; i++)
pwmWriteServo(i + offset, rcData[AUX1 + i]);
int8_t firstServo = servoCount - AUX_FORWARD_CHANNEL_TO_SERVO_COUNT;
// start forwarding from this channel
uint8_t channelOffset = AUX1;
int8_t servoOffset;
for (servoOffset = 0; servoOffset < AUX_FORWARD_CHANNEL_TO_SERVO_COUNT; servoOffset++) {
if (firstServo + servoOffset < 0) {
continue; // there are not enough servos to forward all the AUX channels.
}
pwmWriteServo(firstServo + servoOffset, rcData[channelOffset++]);
}
}
maxMotor = motor[0];