mixer profile switching by cli

src/main/cms/cms_menu_mixer_servo.c

@@ -40,6 +40,7 @@
 
 #include "fc/runtime_config.h"
 #include "fc/settings.h"
+#include "fc/config.h"
 
 static uint8_t currentMotorMixerIndex = 0;
 static uint8_t tmpcurrentMotorMixerIndex = 1;

src/main/config/parameter_group_ids.h

@@ -36,7 +36,7 @@
 //#define PG_TRANSPONDER_CONFIG 17
 #define PG_SYSTEM_CONFIG 18
 #define PG_FEATURE_CONFIG 19
-#define PG_MIXER_CONFIG 20
+#define PG_MIXER_PROFILE 20
 #define PG_SERVO_MIXER 21
 #define PG_IMU_CONFIG 22
 //#define PG_PROFILE_SELECTION 23

src/main/fc/cli.c

@@ -3049,6 +3049,33 @@ static void cliDumpBatteryProfile(uint8_t profileIndex, uint8_t dumpMask)
     dumpAllValues(BATTERY_CONFIG_VALUE, dumpMask);
 }
 
+static void cliMixerProfile(char *cmdline)
+{
+    // CLI profile index is 1-based
+    if (isEmpty(cmdline)) {
+        cliPrintLinef("mixer_profile %d", getConfigMixerProfile() + 1);
+        return;
+    } else {
+        const int i = fastA2I(cmdline) - 1;
+        if (i >= 0 && i < MAX_PROFILE_COUNT) {
+            setConfigMixerProfileAndWriteEEPROM(i);
+            cliMixerProfile("");
+        }
+    }
+}
+
+static void cliDumpMixerProfile(uint8_t profileIndex, uint8_t dumpMask)
+{
+    if (profileIndex >= MAX_MIXER_PROFILE_COUNT) {
+        // Faulty values
+        return;
+    }
+    setConfigMixerProfile(profileIndex);
+    cliPrintHashLine("mixer_profile");
+    cliPrintLinef("mixer_profile %d\r\n", getConfigMixerProfile() + 1);
+    dumpAllValues(MIXER_CONFIG_VALUE, dumpMask);
+}
+
 #ifdef USE_CLI_BATCH
 static void cliPrintCommandBatchWarning(const char *warning)
 {
@@ -3861,6 +3888,8 @@ const clicmd_t cmdTable[] = {
         "[<index>]", cliProfile),
     CLI_COMMAND_DEF("battery_profile", "change battery profile",
         "[<index>]", cliBatteryProfile),
+    CLI_COMMAND_DEF("mixer_profile", "change mixer profile",
+        "[<index>]", cliMixerProfile),
     CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
     CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
 #if defined(USE_SAFE_HOME)

src/main/fc/config.c

@@ -107,6 +107,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG,
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
     .current_profile_index = 0,
     .current_battery_profile_index = 0,
+    .current_mixer_profile_index = 0,
     .debug_mode = SETTING_DEBUG_MODE_DEFAULT,
 #ifdef USE_DEV_TOOLS
     .groundTestMode = SETTING_GROUND_TEST_MODE_DEFAULT,     // disables motors, set heading trusted for FW (for dev use)
@@ -417,6 +418,35 @@ void setConfigBatteryProfileAndWriteEEPROM(uint8_t profileIndex)
     beeperConfirmationBeeps(profileIndex + 1);
 }
 
+uint8_t getConfigMixerProfile(void)
+{
+    return systemConfig()->current_mixer_profile_index;
+}
+
+bool setConfigMixerProfile(uint8_t profileIndex)
+{
+    bool ret = true; // return true if current_mixer_profile_index has changed
+    if (systemConfig()->current_mixer_profile_index == profileIndex) {
+        ret =  false;
+    }
+    if (profileIndex >= MAX_MIXER_PROFILE_COUNT) {// sanity check
+        profileIndex = 0;
+    }
+    systemConfigMutable()->current_mixer_profile_index = profileIndex;
+    // setMixerProfile(profileIndex);
+    return ret;
+}
+
+void setConfigMixerProfileAndWriteEEPROM(uint8_t profileIndex)
+{
+    if (setConfigMixerProfile(profileIndex)) {
+        // profile has changed, so ensure current values saved before new profile is loaded
+        writeEEPROM();
+        readEEPROM();
+    }
+    beeperConfirmationBeeps(profileIndex + 1);
+}
+
 void setGyroCalibrationAndWriteEEPROM(int16_t getGyroZero[XYZ_AXIS_COUNT]) {
     gyroConfigMutable()->gyro_zero_cal[X] = getGyroZero[X];
     gyroConfigMutable()->gyro_zero_cal[Y] = getGyroZero[Y];

src/main/fc/config.h

@@ -69,6 +69,7 @@ typedef enum {
 typedef struct systemConfig_s {
     uint8_t current_profile_index;
     uint8_t current_battery_profile_index;
+    uint8_t current_mixer_profile_index;
     uint8_t debug_mode;
 #ifdef USE_DEV_TOOLS
     bool groundTestMode;                    // Disables motor ouput, sets heading trusted on FW (for dev use)
@@ -135,6 +136,10 @@ uint8_t getConfigBatteryProfile(void);
 bool setConfigBatteryProfile(uint8_t profileIndex);
 void setConfigBatteryProfileAndWriteEEPROM(uint8_t profileIndex);
 
+uint8_t getConfigMixerProfile(void);
+bool setConfigMixerProfile(uint8_t profileIndex);
+void setConfigMixerProfileAndWriteEEPROM(uint8_t profileIndex);
+
 void setGyroCalibrationAndWriteEEPROM(int16_t getGyroZero[XYZ_AXIS_COUNT]);
 void setGravityCalibrationAndWriteEEPROM(float getGravity);
 

src/main/fc/fc_msp.c

@@ -3126,8 +3126,13 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
         sbufWriteU8(dst, getConfigBatteryProfile());
         sbufWriteU8(dst, MAX_BATTERY_PROFILE_COUNT);
         break;
+    case MIXER_CONFIG_VALUE:
+        sbufWriteU8(dst, getConfigMixerProfile());
+        sbufWriteU8(dst, MAX_MIXER_PROFILE_COUNT);
+        break;
     }
     
+
     // If the setting uses a table, send each possible string (null terminated)
     if (SETTING_MODE(setting) == MODE_LOOKUP) {
         for (int ii = (int)min; ii <= (int)max; ii++) {

src/main/fc/settings.c

@@ -239,6 +239,8 @@ static uint16_t getValueOffset(const setting_t *value)
         return value->offset + sizeof(controlRateConfig_t) * getConfigProfile();
     case BATTERY_CONFIG_VALUE:
         return value->offset + sizeof(batteryProfile_t) * getConfigBatteryProfile();
+	case MIXER_CONFIG_VALUE:
+        return value->offset + sizeof(batteryProfile_t) * getConfigBatteryProfile();
     }
     return 0;
 }

src/main/fc/settings.h

@@ -15,7 +15,7 @@ typedef struct lookupTableEntry_s {
 
 #define SETTING_TYPE_OFFSET 0
 #define SETTING_SECTION_OFFSET 4
-#define SETTING_MODE_OFFSET 6
+#define SETTING_MODE_OFFSET 7
 
 typedef enum {
     // value type, bits 0-3
@@ -29,15 +29,16 @@ typedef enum {
 } setting_type_e;
 
 typedef enum {
-    // value section, bits 4-5
+    // value section, bits 4-6
     MASTER_VALUE = (0 << SETTING_SECTION_OFFSET),
     PROFILE_VALUE = (1 << SETTING_SECTION_OFFSET),
     CONTROL_RATE_VALUE = (2 << SETTING_SECTION_OFFSET), // 0x20
     BATTERY_CONFIG_VALUE = (3 << SETTING_SECTION_OFFSET),
+    MIXER_CONFIG_VALUE = (4 << SETTING_SECTION_OFFSET),
 } setting_section_e;
 
 typedef enum {
-    // value mode, bits 6-7
+    // value mode, bits 7
     MODE_DIRECT = (0 << SETTING_MODE_OFFSET),
     MODE_LOOKUP = (1 << SETTING_MODE_OFFSET), // 0x40
 } setting_mode_e;

src/main/fc/settings.yaml

@@ -206,6 +206,7 @@ constants:
 
   MAX_CONTROL_RATE_PROFILE_COUNT: 3
   MAX_BATTERY_PROFILE_COUNT: 3
+  MAX_MIXER_PROFILE_COUNT: 2
 
 
 groups:
@@ -1145,8 +1146,8 @@ groups:
         field: powerLimits.burstPowerFalldownTime
         max: 3000
 
-  - name: PG_MIXER_CONFIG
-    type: mixerConfig_t
+  - name: PG_MIXER_PROFILE
+    type: mixerProfile_t
     members:
       - name: motor_direction_inverted
         description: "Use if you need to inverse yaw motor direction."

src/main/flight/mixer.c

@@ -33,6 +33,7 @@ FILE_COMPILE_FOR_SPEED
 #include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
+#include "config/config_reset.h"
 
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
@@ -82,16 +83,34 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
     .deadband_high = SETTING_3D_DEADBAND_HIGH_DEFAULT,
     .neutral = SETTING_3D_NEUTRAL_DEFAULT
 );
+PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
 
-PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 5);
-
-PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
+void pgResetFn_mixerProfiles(mixerProfile_t *instance)
+{
+    for (int i = 0; i < MAX_MIXER_PROFILE_COUNT; i++) {
+        RESET_CONFIG(mixerProfile_t, &instance[i],
             .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
             .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
             .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
             .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
             .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
-);
+        );
+        motorMixer_t tmp_mixer = {.throttle=0,.roll=0,.pitch=0,.yaw=0};
+        for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
+            instance->MotorMixer[j] = tmp_mixer;
+        }
+    }
+}
+
+// PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_PROFILE, 5);
+
+// PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
+//     .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
+//     .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
+//     .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
+//     .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
+//     .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
+// );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 

src/main/flight/mixer.h

@@ -19,12 +19,17 @@
 
 #include "config/parameter_group.h"
 
+#ifndef MAX_MIXER_PROFILE_COUNT
+#define MAX_MIXER_PROFILE_COUNT 2
+#endif
+
 #if defined(TARGET_MOTOR_COUNT)
 #define MAX_SUPPORTED_MOTORS TARGET_MOTOR_COUNT
 #else
 #define MAX_SUPPORTED_MOTORS 12
 #endif
 
+
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
@@ -64,15 +69,21 @@ typedef struct motorMixer_s {
 
 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
 
-typedef struct mixerConfig_s {
+typedef struct mixerProfile_s {
     int8_t motorDirectionInverted;
     uint8_t platformType;
     bool hasFlaps;
     int16_t appliedMixerPreset;
     uint8_t outputMode;
-} mixerConfig_t;
+    motorMixer_t MotorMixer[MAX_SUPPORTED_MOTORS];
+} mixerProfile_t;
 
-PG_DECLARE(mixerConfig_t, mixerConfig);
+PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
+#define mixerConfig() mixerProfiles(systemConfig()->current_mixer_profile_index)
+#define mixerConfigMutable() ((mixerProfile_t *)mixerConfig())
+#define primaryMotorMixer(_index) (&((mixerConfig()->MotorMixer)[_index]))
+#define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
+extern motorMixer_t primaryMotorMixer_CopyArray[12];
 
 typedef struct reversibleMotorsConfig_s {
     uint16_t deadband_low;                // min 3d value

src/test/unit/flight_mixer_unittest.cc.txt

@@ -144,7 +144,7 @@ TEST_F(ChannelForwardingTest, TestForwardAuxChannelsToServosWithLessRemainingSer
 
 class BasicMixerIntegrationTest : public ::testing::Test {
 protected:
-    mixerConfig_t mixerConfig;
+    mixerProfile_t mixerConfig;
     rxConfig_t rxConfig;
     escAndServoConfig_t escAndServoConfig;
     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];