/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see .
*/
#include
#include
#include
#include "platform.h"
#include "build_config.h"
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "rx/rx.h"
#include "io/gimbal.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/lowpass.h"
#include "config/runtime_config.h"
#include "config/config.h"
#define GIMBAL_SERVO_PITCH 0
#define GIMBAL_SERVO_ROLL 1
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
//#define MIXER_DEBUG
extern int16_t debug[4];
uint8_t motorCount = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static mixerConfig_t *mixerConfig;
static flight3DConfig_t *flight3DConfig;
static escAndServoConfig_t *escAndServoConfig;
static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static mixerMode_e currentMixerMode;
#ifdef USE_SERVOS
static gimbalConfig_t *gimbalConfig;
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static uint8_t servoCount;
static servoParam_t *servoConf;
static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
#endif
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 mixerTri[] = {
{ 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
};
static const motorMixer_t mixerBi[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
};
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
};
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 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
};
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
};
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, -0.5f, 1.0f }, // MIDFRONT_L
{ 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R
{ 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R
{ 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L
};
static const motorMixer_t mixerVtail4[] = {
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
};
static const motorMixer_t mixerAtail4[] = {
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
};
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 mixerDualcopter[] = {
{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
};
// Keep synced with mixerMode_e
const mixer_t mixers[] = {
// Mo Se Mixtable
{ 0, 0, NULL }, // entry 0
{ 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
static motorMixer_t *customMixers;
void mixerUseConfigs(
#ifdef USE_SERVOS
servoParam_t *servoConfToUse,
gimbalConfig_t *gimbalConfigToUse,
#endif
flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfigToUse)
{
#ifdef USE_SERVOS
servoConf = servoConfToUse;
gimbalConfig = gimbalConfigToUse;
#endif
flight3DConfig = flight3DConfigToUse;
escAndServoConfig = escAndServoConfigToUse;
mixerConfig = mixerConfigToUse;
airplaneConfig = airplaneConfigToUse;
rxConfig = rxConfigToUse;
}
#ifdef USE_SERVOS
int16_t determineServoMiddleOrForwardFromChannel(int nr)
{
uint8_t channelToForwardFrom = servoConf[nr].forwardFromChannel;
if (channelToForwardFrom != CHANNEL_FORWARDING_DISABLED && channelToForwardFrom < rxRuntimeConfig.channelCount) {
return rcData[channelToForwardFrom];
}
if (nr < MAX_SUPPORTED_SERVOS) {
return servoConf[nr].middle;
}
return DEFAULT_SERVO_MIDDLE;
}
int servoDirection(int nr, int lr)
{
// servo.rate is overloaded for servos that don't have a rate, but only need direction
// bit set = negative, clear = positive
// rate[2] = ???_direction
// rate[1] = roll_direction
// rate[0] = pitch_direction
// servo.rate is also used as gimbal gain multiplier (yeah)
if (servoConf[nr].rate & lr)
return -1;
else
return 1;
}
#endif
#ifndef USE_QUAD_MIXER_ONLY
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
// enable servos for mixes that require them. note, this shifts motor counts.
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;
// give all servos a default command
for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = DEFAULT_SERVO_MIDDLE;
}
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
{
int i;
servoCount = pwmOutputConfiguration->servoCount;
if (currentMixerMode == MIXER_CUSTOM) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMixers[i].throttle == 0.0f)
break;
currentMixer[i] = customMixers[i];
motorCount++;
}
} else {
motorCount = mixers[currentMixerMode].motorCount;
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
}
}
}
// set flag that we're on something with wings
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE)
ENABLE_STATE(FIXED_WING);
else
DISABLE_STATE(FIXED_WING);
mixerResetMotors();
}
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
// we're 1-based
index++;
// clear existing
for (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 (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
{
UNUSED(pwmOutputConfiguration);
motorCount = 4;
#ifdef USE_SERVOS
servoCount = 0;
#endif
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetMotors();
}
#endif
void mixerResetMotors(void)
{
int i;
// set disarmed motor values
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
}
#ifdef USE_SERVOS
static void updateGimbalServos(void)
{
pwmWriteServo(0, servo[0]);
pwmWriteServo(1, servo[1]);
}
void writeServos(void)
{
if (!useServo)
return;
switch (currentMixerMode) {
case MIXER_BI:
pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
break;
case MIXER_TRI:
if (mixerConfig->tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(0, servo[5]);
} else {
// otherwise, only move servo when copter is armed
if (ARMING_FLAG(ARMED))
pwmWriteServo(0, servo[5]);
else
pwmWriteServo(0, 0); // kill servo signal completely.
}
break;
case MIXER_FLYING_WING:
pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]);
break;
case MIXER_GIMBAL:
updateGimbalServos();
break;
case MIXER_DUALCOPTER:
pwmWriteServo(0, servo[4]);
pwmWriteServo(1, servo[5]);
break;
case MIXER_AIRPLANE:
case MIXER_SINGLECOPTER:
pwmWriteServo(0, servo[3]);
pwmWriteServo(1, servo[4]);
pwmWriteServo(2, servo[5]);
pwmWriteServo(3, servo[6]);
break;
default:
// Two servos for SERVO_TILT, if enabled
if (feature(FEATURE_SERVO_TILT)) {
updateGimbalServos();
}
break;
}
}
#endif
void writeMotors(void)
{
uint8_t i;
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
if (feature(FEATURE_ONESHOT125)) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
void writeAllMotors(int16_t mc)
{
uint8_t i;
// Sends commands to all motors
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors();
}
void stopMotors(void)
{
writeAllMotors(escAndServoConfig->mincommand);
delay(50); // give the timers and ESCs a chance to react.
}
#ifndef USE_QUAD_MIXER_ONLY
static void airplaneMixer(void)
{
int16_t flapperons[2] = { 0, 0 };
int i;
if (!ARMING_FLAG(ARMED))
servo[7] = escAndServoConfig->mincommand; // Kill throttle when disarmed
else
servo[7] = constrain(rcCommand[THROTTLE], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
motor[0] = servo[7];
if (airplaneConfig->flaps_speed) {
// configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control
// use servo min, servo max and servo rate for proper endpoints adjust
static int16_t slow_LFlaps;
int16_t lFlap = determineServoMiddleOrForwardFromChannel(2);
lFlap = constrain(lFlap, servoConf[2].min, servoConf[2].max);
lFlap = escAndServoConfig->servoCenterPulse - lFlap;
if (slow_LFlaps < lFlap)
slow_LFlaps += airplaneConfig->flaps_speed;
else if (slow_LFlaps > lFlap)
slow_LFlaps -= airplaneConfig->flaps_speed;
servo[2] = ((int32_t)servoConf[2].rate * slow_LFlaps) / 100L;
servo[2] += escAndServoConfig->servoCenterPulse;
}
if (FLIGHT_MODE(PASSTHRU_MODE)) { // Direct passthru from RX
servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1
servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2
servo[5] = rcCommand[YAW]; // Rudder
servo[6] = rcCommand[PITCH]; // Elevator
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1
servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2
servo[5] = axisPID[YAW]; // Rudder
servo[6] = axisPID[PITCH]; // Elevator
}
for (i = 3; i < 7; i++) {
servo[i] = ((int32_t)servoConf[i].rate * servo[i]) / 100L; // servo rates
servo[i] += determineServoMiddleOrForwardFromChannel(i);
}
}
#endif
void mixTable(void)
{
uint32_t i;
if (motorCount > 3) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - ABS(rcCommand[YAW]), +100 + ABS(rcCommand[YAW]));
}
// motors for non-servo mixes
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
motor[i] =
rcCommand[THROTTLE] * currentMixer[i].throttle +
axisPID[PITCH] * currentMixer[i].pitch +
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
}
}
#if !defined(USE_QUAD_MIXER_ONLY) || defined(USE_SERVOS)
int8_t yawDirection3D = 1;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
yawDirection3D = -1;
}
// airplane / servo mixes
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 MIXER_TRI:
servo[5] = (servoDirection(5, 1) * axisPID[YAW] * yawDirection3D) + determineServoMiddleOrForwardFromChannel(5); // REAR
break;
case MIXER_GIMBAL:
servo[GIMBAL_SERVO_PITCH] = (((int32_t)servoConf[GIMBAL_SERVO_PITCH].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(GIMBAL_SERVO_PITCH);
servo[GIMBAL_SERVO_ROLL] = (((int32_t)servoConf[GIMBAL_SERVO_ROLL].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(GIMBAL_SERVO_ROLL);
break;
case MIXER_AIRPLANE:
airplaneMixer();
break;
case MIXER_FLYING_WING:
if (!ARMING_FLAG(ARMED))
servo[7] = escAndServoConfig->mincommand;
else
servo[7] = constrain(rcCommand[THROTTLE], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
motor[0] = servo[7];
if (FLIGHT_MODE(PASSTHRU_MODE)) {
// do not use sensors for correction, simple 2 channel mixing
servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]);
servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]);
} else {
// use sensors to correct (gyro only or gyro + acc)
servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]);
servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]);
}
servo[3] += determineServoMiddleOrForwardFromChannel(3);
servo[4] += determineServoMiddleOrForwardFromChannel(4);
break;
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 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);
}
motor[0] = rcCommand[THROTTLE];
break;
default:
break;
}
// do camstab
if (feature(FEATURE_SERVO_TILT)) {
// center at fixed position, or vary either pitch or roll by RC channel
servo[0] = determineServoMiddleOrForwardFromChannel(0);
servo[1] = determineServoMiddleOrForwardFromChannel(1);
if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
if (gimbalConfig->gimbal_flags & GIMBAL_MIXTILT) {
servo[0] -= (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 - (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
servo[1] += (-(int32_t)servoConf[0].rate) * inclination.values.pitchDeciDegrees / 50 + (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
} else {
servo[0] += (int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees / 50;
servo[1] += (int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees / 50;
}
}
}
// constrain servos
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
servo[i] = constrain(servo[i], servoConf[i].min, servoConf[i].max); // limit the values
// forward AUX1-4 to servo outputs (not constrained)
if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
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++]);
}
}
#endif
if (ARMING_FLAG(ARMED)) {
// Find the maximum motor output.
int16_t maxMotor = motor[0];
for (i = 1; i < motorCount; i++) {
// If one motor is above the maxthrottle threshold, we reduce the value
// of all motors by the amount of overshoot. That way, only one motor
// is at max and the relative power of each motor is preserved.
if (motor[i] > maxMotor) {
maxMotor = motor[i];
}
}
for (i = 0; i < motorCount; i++) {
if (maxMotor > escAndServoConfig->maxthrottle) {
// this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
}
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > rxConfig->midrc) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
}
} else {
// If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
// do not spin the motors.
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
if ((rcData[THROTTLE]) < rxConfig->mincheck) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = escAndServoConfig->mincommand;
} else if (mixerConfig->pid_at_min_throttle == 0) {
motor[i] = escAndServoConfig->minthrottle;
}
}
}
}
} else {
for (i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}
}
#ifdef USE_SERVOS
bool isMixerUsingServos(void)
{
return useServo;
}
#endif
void filterServos(void)
{
#ifdef USE_SERVOS
int16_t servoIdx;
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
#endif
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = (int16_t)lowpassFixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
}
}
#if defined(MIXER_DEBUG)
debug[0] = (int16_t)(micros() - startTime);
#endif
#endif
}