USE_QUAD_MIXER_ONLY define removed from codebase

src/main/drivers/pwm_mapping.h

@@ -19,13 +19,7 @@
 
 #include "drivers/io_types.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
+#if defined(TARGET_MOTOR_COUNT)
-#define MAX_PWM_MOTORS  4
-#define MAX_PWM_SERVOS  1
-#define MAX_MOTORS  4
-#define MAX_SERVOS  1
-
-#elif defined(TARGET_MOTOR_COUNT)
 #define MAX_PWM_MOTORS TARGET_MOTOR_COUNT
 #define MAX_PWM_SERVOS 8
 #define MAX_MOTORS  TARGET_MOTOR_COUNT

src/main/fc/cli.c

@@ -142,7 +142,6 @@ static void cliBootlog(char *cmdline);
 
 static const char* const emptyName = "-";
 
-#ifndef USE_QUAD_MIXER_ONLY
 // sync this with mixerMode_e
 static const char * const mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
@@ -152,7 +151,6 @@ static const char * const mixerNames[] = {
     "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
     "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", NULL
 };
-#endif
 
 // sync this with features_e
 static const char * const featureNames[] = {
@@ -964,7 +962,6 @@ static void cliAdjustmentRange(char *cmdline)
     }
 }
 
-#ifndef USE_QUAD_MIXER_ONLY
 static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer, const motorMixer_t *defaultCustomMotorMixer)
 {
     const char *format = "mmix %d %s %s %s %s";
@@ -1067,7 +1064,6 @@ static void cliMotorMix(char *cmdline)
         }
     }
 }
-#endif // USE_QUAD_MIXER_ONLY
 
 static void printRxRange(uint8_t dumpMask, const rxChannelRangeConfig_t *channelRangeConfigs, const rxChannelRangeConfig_t *defaultChannelRangeConfigs)
 {
@@ -2007,7 +2003,6 @@ static void cliGpsPassthrough(char *cmdline)
 }
 #endif
 
-#ifndef USE_QUAD_MIXER_ONLY
 static void cliMixer(char *cmdline)
 {
     int len;
@@ -2041,7 +2036,6 @@ static void cliMixer(char *cmdline)
 
     cliMixer("");
 }
-#endif
 
 static void cliMotor(char *cmdline)
 {
@@ -2571,7 +2565,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliPrintHashLine("resources");
         //printResource(dumpMask, &defaultConfig);
 
-#ifndef USE_QUAD_MIXER_ONLY
         cliPrintHashLine("mixer");
         const bool equalsDefault = mixerConfig_Copy.mixerMode == mixerConfig()->mixerMode;
         const char *formatMixer = "mixer %s";
@@ -2591,7 +2584,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         // print servo parameters
         cliPrintHashLine("servo");
         printServo(dumpMask, servoParams_CopyArray, servoParams(0));
-#endif
 #endif
 
         cliPrintHashLine("feature");
@@ -2743,12 +2735,10 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
 #endif
     CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
-#ifndef USE_QUAD_MIXER_ONLY
     CLI_COMMAND_DEF("mixer", "configure mixer",
         "list\r\n"
         "\t<name>", cliMixer),
     CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
-#endif
     CLI_COMMAND_DEF("motor",  "get/set motor", "<index> [<value>]", cliMotor),
     CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),
 #ifdef PLAY_SOUND

src/main/fc/fc_core.c

@@ -756,14 +756,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // motors do not spin up while we are trying to arm or disarm.
     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
-#ifndef USE_QUAD_MIXER_ONLY
 #ifdef USE_SERVOS
             && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
 #endif
             && mixerConfig()->mixerMode != MIXER_AIRPLANE
             && mixerConfig()->mixerMode != MIXER_FLYING_WING
             && mixerConfig()->mixerMode != MIXER_CUSTOM_AIRPLANE
-#endif
     ) {
         rcCommand[YAW] = 0;
     }

src/main/fc/fc_msp.c

@@ -2175,7 +2175,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifndef USE_QUAD_MIXER_ONLY
     case MSP_SET_MIXER:
         if (dataSize >= 1) {
             mixerConfigMutable()->mixerMode = sbufReadU8(src);
@@ -2183,7 +2182,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP_SET_RX_CONFIG:
         if (dataSize >= 24) {
@@ -2244,12 +2242,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_BF_CONFIG:
         if (dataSize >= 16) {
-#ifdef USE_QUAD_MIXER_ONLY
-            sbufReadU8(src); // mixerMode ignored
-#else
             mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
             mixerUpdateStateFlags();    // Required for correct preset functionality
-#endif
 
             featureClearAll();
             featureSet(sbufReadU32(src)); // features bitmap

src/main/flight/mixer.c

@@ -112,7 +112,6 @@ static const motorMixer_t mixerQuadX[] = {
 #define DEF_MIXER(_mixerMode, _motorCount, _useServos, _motorMap) \
     { .mixerMode=_mixerMode, .motorCount=_motorCount, .useServos=_useServos, .motor=_motorMap }
 
-#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
@@ -276,21 +275,13 @@ static const mixer_t mixerTable[] = {
 #endif
 #endif
 };
-#else
-static const mixer_t quadMixerDescriptor = DEF_MIXER( MIXER_QUADX, 4, false, mixerQuadX);
-#endif // USE_QUAD_MIXER_ONLY
 
 const mixer_t * findMixer(mixerMode_e mixerMode)
 {
-#ifndef USE_QUAD_MIXER_ONLY
     for (unsigned ii = 0; ii < sizeof(mixerTable)/sizeof(mixerTable[0]); ii++) {
         if (mixerTable[ii].mixerMode == mixerMode)
             return &mixerTable[ii];
     }
-#else
-    if (mixerMode == MIXER_QUADX)
-        return &quadMixerDescriptor;
-#endif
 
     return NULL;
 }
@@ -307,13 +298,8 @@ bool mixerIsOutputSaturated(void)
 
 bool isMixerEnabled(mixerMode_e mixerMode)
 {
-#ifdef USE_QUAD_MIXER_ONLY
-    UNUSED(mixerMode);
-    return true;
-#else
     const mixer_t * mixer = findMixer(mixerMode);
     return (mixer != NULL) ? true : false;
-#endif
 }
 
 #ifdef USE_SERVOS
@@ -388,8 +374,6 @@ void mixerUsePWMIOConfiguration(void)
 }
 #endif
 
-
-#ifndef USE_QUAD_MIXER_ONLY
 void mixerLoadMix(int index, motorMixer_t *customMixers)
 {
     // we're 1-based
@@ -408,8 +392,6 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
     }
 }
 
-#endif
-
 void mixerResetDisarmedMotors(void)
 {
     // set disarmed motor values

src/main/flight/mixer.h

@@ -19,9 +19,7 @@
 
 #include "config/parameter_group.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
+#if defined(TARGET_MOTOR_COUNT)
-#define MAX_SUPPORTED_MOTORS 4
-#elif defined(TARGET_MOTOR_COUNT)
 #define MAX_SUPPORTED_MOTORS TARGET_MOTOR_COUNT
 #else
 #define MAX_SUPPORTED_MOTORS 12

src/main/flight/servos.h

@@ -19,11 +19,7 @@
 
 #include "config/parameter_group.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
-#define MAX_SUPPORTED_SERVOS 1
-#else
 #define MAX_SUPPORTED_SERVOS 8
-#endif
 
 // These must be consecutive, see 'reversedSources'
 enum {