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

* 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

src/main/build/build_config.h

@@ -44,5 +44,12 @@
 #else
 #define FASTRAM                     __attribute__ ((section(".fastram_bss"), aligned(4)))
 #endif
+
+#if defined (STM32F4) || defined (STM32F7)
+#define EXTENDED_FASTRAM FASTRAM
+#else
+#define EXTENDED_FASTRAM
+#endif
+
 #define STATIC_FASTRAM              static FASTRAM
 #define STATIC_FASTRAM_UNIT_TESTED  STATIC_UNIT_TESTED FASTRAM

src/main/fc/cli.c

@@ -983,7 +983,7 @@ static void cliAdjustmentRange(char *cmdline)
     }
 }
 
-static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer, const motorMixer_t *defaultCustomMotorMixer)
+static void printMotorMix(uint8_t dumpMask, const motorMixer_t *primaryMotorMixer, const motorMixer_t *defaultprimaryMotorMixer)
 {
     const char *format = "mmix %d %s %s %s %s";
     char buf0[FTOA_BUFFER_SIZE];
@@ -991,18 +991,18 @@ static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer
     char buf2[FTOA_BUFFER_SIZE];
     char buf3[FTOA_BUFFER_SIZE];
     for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        if (customMotorMixer[i].throttle == 0.0f)
+        if (primaryMotorMixer[i].throttle == 0.0f)
             break;
-        const float thr = customMotorMixer[i].throttle;
+        const float thr = primaryMotorMixer[i].throttle;
-        const float roll = customMotorMixer[i].roll;
+        const float roll = primaryMotorMixer[i].roll;
-        const float pitch = customMotorMixer[i].pitch;
+        const float pitch = primaryMotorMixer[i].pitch;
-        const float yaw = customMotorMixer[i].yaw;
+        const float yaw = primaryMotorMixer[i].yaw;
         bool equalsDefault = false;
-        if (defaultCustomMotorMixer) {
+        if (defaultprimaryMotorMixer) {
-            const float thrDefault = defaultCustomMotorMixer[i].throttle;
+            const float thrDefault = defaultprimaryMotorMixer[i].throttle;
-            const float rollDefault = defaultCustomMotorMixer[i].roll;
+            const float rollDefault = defaultprimaryMotorMixer[i].roll;
-            const float pitchDefault = defaultCustomMotorMixer[i].pitch;
+            const float pitchDefault = defaultprimaryMotorMixer[i].pitch;
-            const float yawDefault = defaultCustomMotorMixer[i].yaw;
+            const float yawDefault = defaultprimaryMotorMixer[i].yaw;
             const bool equalsDefault = thr == thrDefault && roll == rollDefault && pitch == pitchDefault && yaw == yawDefault;
 
             cliDefaultPrintLinef(dumpMask, equalsDefault, format,
@@ -1027,11 +1027,11 @@ static void cliMotorMix(char *cmdline)
     const char *ptr;
 
     if (isEmpty(cmdline)) {
-        printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
+        printMotorMix(DUMP_MASTER, primaryMotorMixer(0), NULL);
     } else if (sl_strncasecmp(cmdline, "reset", 5) == 0) {
         // erase custom mixer
         for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            customMotorMixerMutable(i)->throttle = 0.0f;
+            primaryMotorMixerMutable(i)->throttle = 0.0f;
         }
     } else {
         ptr = cmdline;
@@ -1039,28 +1039,28 @@ static void cliMotorMix(char *cmdline)
         if (i < MAX_SUPPORTED_MOTORS) {
             ptr = nextArg(ptr);
             if (ptr) {
-                customMotorMixerMutable(i)->throttle = fastA2F(ptr);
+                primaryMotorMixerMutable(i)->throttle = fastA2F(ptr);
                 check++;
             }
             ptr = nextArg(ptr);
             if (ptr) {
-                customMotorMixerMutable(i)->roll = fastA2F(ptr);
+                primaryMotorMixerMutable(i)->roll = fastA2F(ptr);
                 check++;
             }
             ptr = nextArg(ptr);
             if (ptr) {
-                customMotorMixerMutable(i)->pitch = fastA2F(ptr);
+                primaryMotorMixerMutable(i)->pitch = fastA2F(ptr);
                 check++;
             }
             ptr = nextArg(ptr);
             if (ptr) {
-                customMotorMixerMutable(i)->yaw = fastA2F(ptr);
+                primaryMotorMixerMutable(i)->yaw = fastA2F(ptr);
                 check++;
             }
             if (check != 4) {
                 cliShowParseError();
             } else {
-                printMotorMix(DUMP_MASTER, customMotorMixer(0), NULL);
+                printMotorMix(DUMP_MASTER, primaryMotorMixer(0), NULL);
             }
         } else {
             cliShowArgumentRangeError("index", 0, MAX_SUPPORTED_MOTORS - 1);
@@ -2836,9 +2836,9 @@ static void printConfig(const char *cmdline, bool doDiff)
         //printResource(dumpMask, &defaultConfig);
 
         cliPrintHashLine("mixer");
-        cliDumpPrintLinef(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
+        cliDumpPrintLinef(dumpMask, primaryMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
 
-        printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
+        printMotorMix(dumpMask, primaryMotorMixer_CopyArray, primaryMotorMixer(0));
 
         // print custom servo mixer if exists
         cliPrintHashLine("servo mix");

src/main/fc/fc_init.c

@@ -347,7 +347,7 @@ void init(void)
     // pwmInit() needs to be called as soon as possible for ESC compatibility reasons
     pwmInit(&pwm_params);
 
-    mixerUsePWMIOConfiguration();
+    mixerPrepare();
 
     if (!pwm_params.useFastPwm)
         motorControlEnable = true;

src/main/fc/fc_msp.c

@@ -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, primaryMotorMixer(i)->throttle * 1000);
-            sbufWriteU16(dst, constrainf(customMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(primaryMotorMixer(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(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
-            sbufWriteU16(dst, constrainf(customMotorMixer(i)->yaw + 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);
+            primaryMotorMixerMutable(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;
+            primaryMotorMixerMutable(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;
+            primaryMotorMixerMutable(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)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
         } else
             return MSP_RESULT_ERROR;
         break;

src/main/fc/runtime_config.h

@@ -89,20 +89,20 @@ extern uint32_t flightModeFlags;
 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
 
 typedef enum {
-    GPS_FIX_HOME            = (1 << 0),
+    GPS_FIX_HOME                = (1 << 0),
-    GPS_FIX                 = (1 << 1),
+    GPS_FIX                     = (1 << 1),
-    CALIBRATE_MAG           = (1 << 2),
+    CALIBRATE_MAG               = (1 << 2),
-    SMALL_ANGLE             = (1 << 3),
+    SMALL_ANGLE                 = (1 << 3),
-    FIXED_WING              = (1 << 4),     // set when in flying_wing or airplane mode. currently used by althold selection code
+    FIXED_WING                  = (1 << 4),     // set when in flying_wing or airplane mode. currently used by althold selection code
-    ANTI_WINDUP             = (1 << 5),
+    ANTI_WINDUP                 = (1 << 5),
-    FLAPERON_AVAILABLE      = (1 << 6),
+    FLAPERON_AVAILABLE          = (1 << 6),
-    NAV_MOTOR_STOP_OR_IDLE  = (1 << 7),     // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
+    NAV_MOTOR_STOP_OR_IDLE      = (1 << 7),     // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
-    COMPASS_CALIBRATED      = (1 << 8),
+    COMPASS_CALIBRATED          = (1 << 8),
-    ACCELEROMETER_CALIBRATED= (1 << 9),
+    ACCELEROMETER_CALIBRATED    = (1 << 9),
-    PWM_DRIVER_AVAILABLE    = (1 << 10),
+    PWM_DRIVER_AVAILABLE        = (1 << 10),
-    NAV_CRUISE_BRAKING      = (1 << 11),
+    NAV_CRUISE_BRAKING          = (1 << 11),
-    NAV_CRUISE_BRAKING_BOOST = (1 << 12),
+    NAV_CRUISE_BRAKING_BOOST    = (1 << 12),
-    NAV_CRUISE_BRAKING_LOCKED = (1 << 13),
+    NAV_CRUISE_BRAKING_LOCKED   = (1 << 13),
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

src/main/flight/mixer.c

@@ -53,14 +53,12 @@
 
 #include "sensors/battery.h"
 
-
-//#define MIXER_DEBUG
-
-static uint8_t motorCount;
-
 FASTRAM int16_t motor[MAX_SUPPORTED_MOTORS];
 FASTRAM int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 static float motorMixRange;
+static float mixerScale = 1.0f;
+static EXTENDED_FASTRAM motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
+static EXTENDED_FASTRAM uint8_t motorCount = 0;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
 
@@ -104,12 +102,21 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .digitalIdleOffsetValue = 450   // Same scale as in Betaflight
 );
 
-static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
+PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTOR_MIXER, 0);
 
-PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
+static void computeMotorCount(void)
-
-uint8_t getMotorCount(void)
 {
+    motorCount = 0;
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        // check if done
+        if (primaryMotorMixer(i)->throttle == 0.0f) {
+            break;
+        }
+        motorCount++;
+    }
+}
+
+uint8_t FAST_CODE NOINLINE getMotorCount(void) {
     return motorCount;
 }
 
@@ -141,28 +148,13 @@ void mixerUpdateStateFlags(void)
     }
 }
 
-void mixerUsePWMIOConfiguration(void)
+void mixerPrepare(void)
 {
-    motorCount = 0;
+    computeMotorCount();
-
+    loadPrimaryMotorMixer();
-    // load custom mixer into currentMixer
-    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        // check if done
-        if (customMotorMixer(i)->throttle == 0.0f)
-            break;
-        currentMixer[i] = *customMotorMixer(i);
-        motorCount++;
-    }
-
     // in 3D mode, mixer gain has to be halved
     if (feature(FEATURE_3D)) {
-        if (motorCount > 1) {
+        mixerScale = 0.5f;
-            for (int i = 0; i < motorCount; i++) {
-                currentMixer[i].pitch *= 0.5f;
-                currentMixer[i].roll *= 0.5f;
-                currentMixer[i].yaw *= 0.5f;
-            }
-        }
     }
 
     mixerResetDisarmedMotors();
@@ -309,9 +301,9 @@ void FAST_CODE NOINLINE mixTable(const float dT)
     // motors for non-servo mixes
     for (int i = 0; i < motorCount; i++) {
         rpyMix[i] =
-            input[PITCH] * currentMixer[i].pitch +
+            (input[PITCH] * currentMixer[i].pitch +
             input[ROLL] * currentMixer[i].roll +
-            -mixerConfig()->yaw_motor_direction * input[YAW] * currentMixer[i].yaw;
+            -mixerConfig()->yaw_motor_direction * input[YAW] * currentMixer[i].yaw) * mixerScale;
 
         if (rpyMix[i] > rpyMixMax) rpyMixMax = rpyMix[i];
         if (rpyMix[i] < rpyMixMin) rpyMixMin = rpyMix[i];
@@ -419,3 +411,9 @@ motorStatus_e getMotorStatus(void)
 
     return MOTOR_RUNNING;
 }
+
+void loadPrimaryMotorMixer(void) {
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        currentMixer[i] = *primaryMotorMixer(i);
+    }
+}

src/main/flight/mixer.h

@@ -60,7 +60,7 @@ typedef struct motorMixer_s {
     float yaw;
 } motorMixer_t;
 
-PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
+PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
 
 typedef struct mixerConfig_s {
     int8_t yaw_motor_direction;
@@ -110,7 +110,7 @@ bool mixerIsOutputSaturated(void);
 motorStatus_e getMotorStatus(void);
 
 void writeAllMotors(int16_t mc);
-void mixerUsePWMIOConfiguration(void);
+void mixerPrepare(void);
 void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
 void mixTable(const float dT);
@@ -118,3 +118,5 @@ void writeMotors(void);
 void processServoAutotrim(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);
+
+void loadPrimaryMotorMixer(void);

src/main/target/ALIENFLIGHTF3/config.c

@@ -68,12 +68,12 @@ void targetConfiguration(void)
     controlRateProfilesMutable(0)->stabilized.rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
     parseRcChannels("TAER1234");
 
-    *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    *primaryMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    *primaryMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    *primaryMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    *primaryMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    *primaryMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    *primaryMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    *primaryMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
+    *primaryMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 }

src/main/target/ALIENFLIGHTF4/config.c

@@ -83,12 +83,12 @@ void targetConfiguration(void)
     pidProfileMutable()->bank_mc.pid[YAW].P = 64;
     pidProfileMutable()->bank_mc.pid[YAW].D = 18;
 
-    *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    *primaryMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    *primaryMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    *primaryMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    *primaryMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    *primaryMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    *primaryMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    *primaryMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
+    *primaryMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 }

src/main/target/ALIENFLIGHTNGF7/config.c

@@ -85,12 +85,12 @@ void targetConfiguration(void)
     pidProfileMutable()->bank_mc.pid[YAW].P = 64;
     pidProfileMutable()->bank_mc.pid[YAW].D = 18;
 
-    *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    *primaryMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    *primaryMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    *primaryMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    *primaryMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    *primaryMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    *primaryMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    *primaryMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
+    *primaryMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 }

src/main/target/SPRACINGF3NEO/target.h

@@ -180,3 +180,5 @@
 #define TARGET_IO_PORTC 0xffff
 #define TARGET_IO_PORTD (BIT(2))
 #define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+
+#undef USE_TELEMETRY_FRSKY

src/test/unit/platform.h

@@ -80,4 +80,5 @@ extern SysTick_Type *SysTick;
 #include "target.h"
 
 #define FAST_CODE 
-#define NOINLINE
+#define NOINLINE
+#define EXTENDED_FASTRAM