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Refactor motor mixer to prepare for primary and secondary mixer bank (#4467)

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* Refactor motor mixer to use getter instead of array copy and use getter to access

* Fix FASTRAM problem

* Solve the problem of 3D mixer scaling

* Prepare for primary and secondary motor mixer

* enable build on SPRF3NEO
This commit is contained in:
Paweł Spychalski 2019-03-07 21:35:37 +01:00 • committed by GitHub
parent 2892d9d11a
commit 5bfcdd8089
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GPG key ID: 4AEE18F83AFDEB23
12 changed files with 110 additions and 100 deletions
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16
src/main/fc/fc_msp.c
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@ -491,10 +491,10 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, customMotorMixer(i)->throttle * 1000);
sbufWriteU16(dst, constrainf(customMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(customMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(customMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, primaryMotorMixer(i)->throttle * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
}
break;
@ -1884,10 +1884,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {
customMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
customMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
customMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
customMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
primaryMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
primaryMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
} else
return MSP_RESULT_ERROR;
break;