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Code Issues Wiki Activity

Added rxConfig parameter group

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This commit is contained in:
Martin Budden 2017-01-03 21:57:52 +00:00
parent 261d16307f
commit 4f08c99401
32 changed files with 372 additions and 394 deletions
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24
src/main/fc/rc_controls.c
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@ -120,26 +120,26 @@ bool areSticksInApModePosition(uint16_t ap_mode)
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus(uint16_t deadband3d_throttle)
{
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig()->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->mincheck))
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;
}
rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig)
rollPitchStatus_e calculateRollPitchCenterStatus(void)
{
if (((rcData[PITCH] < (rxConfig->midrc + AIRMODE_DEADBAND)) && (rcData[PITCH] > (rxConfig->midrc -AIRMODE_DEADBAND)))
&& ((rcData[ROLL] < (rxConfig->midrc + AIRMODE_DEADBAND)) && (rcData[ROLL] > (rxConfig->midrc -AIRMODE_DEADBAND))))
if (((rcData[PITCH] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[PITCH] > (rxConfig()->midrc -AIRMODE_DEADBAND)))
&& ((rcData[ROLL] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[ROLL] > (rxConfig()->midrc -AIRMODE_DEADBAND))))
return CENTERED;
return NOT_CENTERED;
}
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
{
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
@ -151,9 +151,9 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > rxConfig->mincheck)
if (rcData[i] > rxConfig()->mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < rxConfig->maxcheck)
if (rcData[i] < rxConfig()->maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
@ -640,7 +640,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
#define RESET_FREQUENCY_2HZ (1000 / 2)
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
@ -675,9 +675,9 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state