Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

Rename FEATURE_3D to FEATURE_REVERSIBLE_MOTORS

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-02-19 14:01:23 +01:00
parent 19f8a7bd56
commit 7e47809c9a
10 changed files with 18 additions and 18 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/fc/cli.c
View file

@ -146,7 +146,7 @@ static bool commandBatchError = false;
static const char * const featureNames[] = {
"THR_VBAT_COMP", "VBAT", "TX_PROF_SEL", "BAT_PROF_AUTOSWITCH", "MOTOR_STOP",
"DYNAMIC_FILTERS", "SOFTSERIAL", "GPS", "RPM_FILTERS",
"", "TELEMETRY", "CURRENT_METER", "3D", "",
"", "TELEMETRY", "CURRENT_METER", "REVERSIBLE_MOTORS", "",
"", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "",
"BLACKBOX", "", "TRANSPONDER", "AIRMODE",
"SUPEREXPO", "VTX", "", "", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE",

2
src/main/fc/config.h
View file

@ -48,7 +48,7 @@ typedef enum {
FEATURE_UNUSED_4 = 1 << 9, // was FEATURE_SONAR
FEATURE_TELEMETRY = 1 << 10,
FEATURE_CURRENT_METER = 1 << 11,
FEATURE_3D = 1 << 12,
FEATURE_REVERSIBLE_MOTORS = 1 << 12,
FEATURE_UNUSED_5 = 1 << 13, // RX_PARALLEL_PWM
FEATURE_UNUSED_6 = 1 << 14, // RX_MSP
FEATURE_RSSI_ADC = 1 << 15,

2
src/main/fc/fc_core.c
View file

@ -515,7 +515,7 @@ void processRx(timeUs_t currentTimeUs)
calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm(DISARM_SWITCH_3D);
}

2
src/main/fc/fc_init.c
View file

@ -285,7 +285,7 @@ void init(void)
// Some sanity checking
if (motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
featureClear(FEATURE_REVERSIBLE_MOTORS);
}
// Initialize motor and servo outpus

4
src/main/fc/rc_controls.c
View file

@ -102,9 +102,9 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
throttleStatus_e calculateThrottleStatus(void)
{
const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
if (feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
else if (!feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;

2
src/main/flight/failsafe.c
View file

@ -287,7 +287,7 @@ void failsafeApplyControlInput(void)
break;
case THROTTLE:
rcCommand[idx] = feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : getThrottleIdleValue();
rcCommand[idx] = feature(FEATURE_REVERSIBLE_MOTORS) ? PWM_RANGE_MIDDLE : getThrottleIdleValue();
break;
}
break;

16
src/main/flight/mixer.c
View file

@ -194,7 +194,7 @@ void applyMotorRateLimiting(const float dT)
{
static float motorPrevious[MAX_SUPPORTED_MOTORS] = { 0 };
if (feature(FEATURE_3D)) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
// FIXME: Don't apply rate limiting in 3D mode
for (int i = 0; i < motorCount; i++) {
motorPrevious[i] = motor[i];
@ -233,7 +233,7 @@ void mixerInit(void)
computeMotorCount();
loadPrimaryMotorMixer();
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
mixerScale = 0.5f;
}
@ -250,7 +250,7 @@ void mixerResetDisarmedMotors(void)
{
// set disarmed motor values
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
motor_disarmed[i] = feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
}
}
@ -263,7 +263,7 @@ void FAST_CODE NOINLINE writeMotors(void)
// If we use DSHOT we need to convert motorValue to DSHOT ranges
if (isMotorProtocolDigital()) {
if (feature(FEATURE_3D)) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (motor[i] >= throttleIdleValue && motor[i] <= flight3DConfig()->deadband3d_low) {
motorValue = scaleRangef(motor[i], motorConfig()->mincommand, flight3DConfig()->deadband3d_low, DSHOT_3D_DEADBAND_LOW, DSHOT_MIN_THROTTLE);
motorValue = constrain(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_DEADBAND_LOW);
@ -309,7 +309,7 @@ void writeAllMotors(int16_t mc)
void stopMotors(void)
{
writeAllMotors(feature(FEATURE_3D) ? flight3DConfig()->neutral3d : motorConfig()->mincommand);
writeAllMotors(feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand);
delay(50); // give the timers and ESCs a chance to react.
}
@ -364,7 +364,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
mixerThrottleCommand = constrain(globalFunctionValues[GLOBAL_FUNCTION_ACTION_OVERRIDE_THROTTLE], throttleMin, throttleMax);
} else
#endif
if (feature(FEATURE_3D)) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = PWM_RANGE_MIDDLE; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
@ -424,7 +424,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
if (failsafeIsActive()) {
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
} else if (feature(FEATURE_3D)) {
} else if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)) {
motor[i] = constrain(motor[i], throttleIdleValue, flight3DConfig()->deadband3d_low);
} else {
@ -437,7 +437,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
// Motor stop handling
if (ARMING_FLAG(ARMED) && (getMotorStatus() != MOTOR_RUNNING)) {
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = (feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : motorConfig()->mincommand);
motor[i] = (feature(FEATURE_REVERSIBLE_MOTORS) ? PWM_RANGE_MIDDLE : motorConfig()->mincommand);
} else {
motor[i] = throttleIdleValue;
}

2
src/main/flight/servos.c
View file

@ -247,7 +247,7 @@ void servoMixer(float dT)
input[INPUT_STABILIZED_YAW] = axisPID[YAW];
// Reverse yaw servo when inverted in 3D mode only for multirotor and tricopter
if (feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) < PWM_RANGE_MIDDLE) &&
if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) < PWM_RANGE_MIDDLE) &&
(mixerConfig()->platformType == PLATFORM_MULTIROTOR || mixerConfig()->platformType == PLATFORM_TRICOPTER)) {
input[INPUT_STABILIZED_YAW] *= -1;
}

2
src/main/rx/msp_override.c
View file

@ -75,7 +75,7 @@ void mspOverrideInit(void)
mspRcChannels[i].expiresAt = nowMs + MAX_INVALID_RX_PULSE_TIME;
}
mspRcChannels[THROTTLE].raw = (feature(FEATURE_3D)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
mspRcChannels[THROTTLE].raw = (feature(FEATURE_REVERSIBLE_MOTORS)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
mspRcChannels[THROTTLE].data = mspRcChannels[THROTTLE].raw;
// Initialize ARM switch to OFF position when arming via switch is defined

2
src/main/rx/rx.c
View file

@ -262,7 +262,7 @@ void rxInit(void)
rcChannels[i].expiresAt = nowMs + MAX_INVALID_RX_PULSE_TIME;
}
rcChannels[THROTTLE].raw = (feature(FEATURE_3D)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
rcChannels[THROTTLE].raw = (feature(FEATURE_REVERSIBLE_MOTORS)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
rcChannels[THROTTLE].data = rcChannels[THROTTLE].raw;
// Initialize ARM switch to OFF position when arming via switch is defined