Feature SERVO_TILT removed

docs/Cli.md

@@ -341,7 +341,7 @@ Re-apply any new defaults as desired.
 |  yaw_deadband  | 5 | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. |
 |  throttle_tilt_comp_str  | 0 | Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled. |
 |  flaperon_throw_offset  | 200 | Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (`FEATURE FLAPS`) when FLAPERON mode is activated. |
-|  gimbal_mode  | NORMAL | When feature SERVO_TILT is enabled, this can be either NORMAL or MIXTILT |
+|  gimbal_mode  | NORMAL | This can be either NORMAL or MIXTILT. NORMAL mean each axis is outputed to separated servos. MIXTILT combines PITCH and ROLL. Refer to gimbal documentation |
 |  fw_iterm_throw_limit  | 165 | Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely. |
 |  fw_reference_airspeed  | 1000 | Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present. |
 |  fw_turn_assist_yaw_gain  | 1 | Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter |

src/main/fc/cli.c

@@ -141,7 +141,7 @@ static const char* const emptyName = "-";
 // sync this with features_e
 static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "TX_PROF_SEL", "", "MOTOR_STOP",
-    "SERVO_TILT", "SOFTSERIAL", "GPS", "",
+    "", "SOFTSERIAL", "GPS", "",
     "", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "",
     "BLACKBOX", "", "TRANSPONDER", "AIRMODE",

src/main/fc/config.h

@@ -48,7 +48,7 @@ typedef enum {
     FEATURE_TX_PROF_SEL = 1 << 2,       // Profile selection by TX stick command
     FEATURE_UNUSED_2 = 1 << 3,          // RX_SERIAL
     FEATURE_MOTOR_STOP = 1 << 4,
-    FEATURE_SERVO_TILT = 1 << 5,
+    NOT_USED_10 = 1 << 5,               // was FEATURE_SERVO_TILT
     FEATURE_SOFTSERIAL = 1 << 6,
     FEATURE_GPS = 1 << 7,
     FEATURE_UNUSED_3 = 1 << 8,          // was FEATURE_FAILSAFE
@@ -63,13 +63,13 @@ typedef enum {
     FEATURE_DASHBOARD = 1 << 17,
     FEATURE_UNUSED_7 = 1 << 18,         // Unused in INAV
     FEATURE_BLACKBOX = 1 << 19,
-    FEATURE_UNUSED_10 = 1 << 20, // was FEATURE_CHANNEL_FORWARDING
+    FEATURE_UNUSED_10 = 1 << 20,        // was FEATURE_CHANNEL_FORWARDING
     FEATURE_TRANSPONDER = 1 << 21,
     FEATURE_AIRMODE = 1 << 22,
     FEATURE_SUPEREXPO_RATES = 1 << 23,
     FEATURE_VTX = 1 << 24,
     FEATURE_UNUSED_8 = 1 << 25,         // RX_SPI
-    FEATURE_UNUSED_9 = 1 << 26,        //SOFTSPI
+    FEATURE_UNUSED_9 = 1 << 26,         //SOFTSPI
     FEATURE_PWM_SERVO_DRIVER = 1 << 27,
     FEATURE_PWM_OUTPUT_ENABLE = 1 << 28,
     FEATURE_OSD = 1 << 29,

src/main/fc/fc_core.c

@@ -802,11 +802,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         processServoAutotrim();
     }
 
-    // Servo tilt is not part of servo mixer, but uses servos
-    if (feature(FEATURE_SERVO_TILT)) {
-        processServoTilt();
-    }
-
     //Servos should be filtered or written only when mixer is using servos or special feaures are enabled
     if (isServoOutputEnabled()) {
         writeServos();

src/main/fc/fc_msp_box.c

@@ -173,8 +173,8 @@ void initActiveBoxIds(void)
         activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
     }
 
-    if (feature(FEATURE_SERVO_TILT))
+    //Camstab mode is enabled always
-        activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
+    activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
 
 #ifdef USE_GPS
     if (sensors(SENSOR_BARO) || (STATE(FIXED_WING) && feature(FEATURE_GPS))) {

src/main/flight/mixer.h

@@ -95,7 +95,6 @@ void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
 void mixTable(void);
 void writeMotors(void);
-void processServoTilt(void);
 void processServoAutotrim(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);

src/main/flight/servos.c

@@ -143,9 +143,6 @@ void servosInit(void)
         mixerUsesServos = 1;
     }
 
-    // enable servos for mixes that require them. note, this shifts motor counts.
-    servoOutputEnabled = mixerUsesServos || feature(FEATURE_SERVO_TILT);
-
     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++)
         servoComputeScalingFactors(i);
 
@@ -214,7 +211,6 @@ void writeServos(void)
     filterServos();
 
     int servoIndex = 0;
-
     bool zeroServoValue = false;
 
     /*
@@ -224,22 +220,13 @@ void writeServos(void)
         zeroServoValue = true;
     }
 
-    // Write mixer servo outputs
+    for (int i = minServoIndex; i <= maxServoIndex; i++) {
-    //      mixerUsesServos might indicate SERVO_TILT, servoRuleCount indicate if mixer alone uses servos
+        if (zeroServoValue) {
-    if (mixerUsesServos && servoRuleCount) {
+            pwmWriteServo(servoIndex++, 0);
-        for (int i = minServoIndex; i <= maxServoIndex; i++) {
+        } else {
-            if (zeroServoValue) {
+            pwmWriteServo(servoIndex++, servo[i]);
-                pwmWriteServo(servoIndex++, 0);
-            } else {
-                pwmWriteServo(servoIndex++, servo[i]);
-            }
         }
     }
-
-    if (feature(FEATURE_SERVO_TILT)) {
-        pwmWriteServo(servoIndex++, servo[SERVO_GIMBAL_PITCH]);
-        pwmWriteServo(servoIndex++, servo[SERVO_GIMBAL_ROLL]);
-    }
 }
 
 void servoMixer(float dT)
@@ -265,8 +252,21 @@ void servoMixer(float dT)
 
     input[INPUT_FEATURE_FLAPS] = FLIGHT_MODE(FLAPERON) ? servoConfig()->flaperon_throw_offset : 0;
 
-    input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -1800, 1800, -500, +500);
+    if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
-    input[INPUT_GIMBAL_ROLL] = scaleRange(attitude.values.roll, -1800, 1800, -500, +500);
+        const int gimbalPitch = scaleRange(attitude.values.pitch, -1800, 1800, -360, +360);
+        const int gimbalRoll = scaleRange(attitude.values.roll, -1800, 1800, -360, +360);
+
+        if (gimbalConfig()->mode == GIMBAL_MODE_MIXTILT) {
+            input[INPUT_GIMBAL_PITCH] = gimbalPitch - gimbalRoll;
+            input[INPUT_GIMBAL_ROLL] = gimbalPitch + gimbalRoll;
+        } else {
+            input[INPUT_GIMBAL_PITCH] = gimbalPitch;
+            input[INPUT_GIMBAL_ROLL] = gimbalRoll;
+        }
+    } else {
+        input[INPUT_GIMBAL_PITCH] = 0;
+        input[INPUT_GIMBAL_ROLL] = 0;
+    }
 
     input[INPUT_STABILIZED_THROTTLE] = motor[0] - 1000 - 500;  // Since it derives from rcCommand or mincommand and must be [-500:+500]
 
@@ -346,23 +346,6 @@ void servoMixer(float dT)
     }
 }
 
-void processServoTilt(void)
-{
-    // center at fixed position, or vary either pitch or roll by RC channel
-    servo[SERVO_GIMBAL_PITCH] = servoParams(SERVO_GIMBAL_PITCH)->middle;
-    servo[SERVO_GIMBAL_ROLL] = servoParams(SERVO_GIMBAL_PITCH)->middle;
-
-    if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
-        if (gimbalConfig()->mode == GIMBAL_MODE_MIXTILT) {
-            servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate) * attitude.values.pitch / 50 - (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll / 50;
-            servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate) * attitude.values.pitch / 50 + (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll / 50;
-        } else {
-            servo[SERVO_GIMBAL_PITCH] += (int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate * attitude.values.pitch / 50;
-            servo[SERVO_GIMBAL_ROLL] += (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll  / 50;
-        }
-    }
-}
-
 #define SERVO_AUTOTRIM_TIMER_MS     2000
 
 typedef enum {