Move motor and servo params out of master_t

src/main/config/config.c

@@ -249,16 +249,20 @@ void resetMotorConfig(motorConfig_t *motorConfig)
 {
 #ifdef BRUSHED_MOTORS
     motorConfig->minthrottle = 1000;
+    motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
 #else
     motorConfig->minthrottle = 1150;
+    motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     motorConfig->maxthrottle = 1850;
     motorConfig->mincommand = 1000;
+
 }
 
 void resetServoConfig(servoConfig_t *servoConfig)
 {
     servoConfig->servoCenterPulse = 1500;
+    servoConfig->servoPwmRate = 50;
 }
 
 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
@@ -490,13 +494,6 @@ static void resetConf(void)
     resetServoConfig(&masterConfig.servoConfig);
     resetFlight3DConfig(&masterConfig.flight3DConfig);
 
-#ifdef BRUSHED_MOTORS
-    masterConfig.motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
-#else
-    masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
-#endif
-    masterConfig.servo_pwm_rate = 50;
-
 #ifdef GPS
     // gps/nav stuff
     masterConfig.gpsConfig.provider = GPS_UBLOX;

src/main/config/config_master.h

@@ -40,9 +40,6 @@ typedef struct master_s {
     servoConfig_t servoConfig;
     flight3DConfig_t flight3DConfig;
 
-    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
-    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
-
     // global sensor-related stuff
 
     sensorAlignmentConfig_t sensorAlignmentConfig;

src/main/io/motors.h

@@ -22,4 +22,5 @@ typedef struct motorConfig_s {
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
+    uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
 } motorConfig_t;

src/main/io/serial_cli.c

@@ -604,7 +604,7 @@ const clivalue_t valueTable[] = {
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, 0 },
     { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, 0 },
 
-    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 50,  32000 }, 0 },
+    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.motorPwmRate, .config.minmax = { 50,  32000 }, 0 },
 
     { "fixed_wing_auto_arm",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.fixed_wing_auto_arm, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
@@ -761,7 +761,7 @@ const clivalue_t valueTable[] = {
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
     { "gimbal_mode",                VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, 0 },
-    { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 }, 0 },
+    { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servoConfig.servoPwmRate, .config.minmax = { 50,  498 }, 0 },
     { "fw_iterm_throw_limit",       VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN,  FW_ITERM_THROW_LIMIT_MAX}, 0 },
 #endif
 

src/main/io/servos.h

@@ -20,4 +20,5 @@
 typedef struct servoConfig_s {
     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
+    uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
 } servoConfig_t;

src/main/main.c

@@ -271,11 +271,11 @@ void init(void)
     pwm_params.useServos = isMixerUsingServos();
     pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
     pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse;
-    pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
+    pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate;
 #endif
 
     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
-    pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
+    pwm_params.motorPwmRate = masterConfig.motorConfig.motorPwmRate;
     pwm_params.idlePulse = masterConfig.motorConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;