Merge pull request #1073 from martinbudden/inav_pg15_flight3DConfig

Added flight3DConfig parameter group

src/main/config/config_master.h

@@ -49,8 +49,6 @@
 
 #include "telemetry/telemetry.h"
 
-#define flight3DConfig(x) (&masterConfig.flight3DConfig)
-#define flight3DConfigMutable(x) (&masterConfig.flight3DConfig)
 #define servoConfig(x) (&masterConfig.servoConfig)
 #define servoConfigMutable(x) (&masterConfig.servoConfig)
 #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
@@ -95,8 +93,6 @@ typedef struct master_s {
     uint8_t asyncMode;
 #endif
 
-    flight3DConfig_t flight3DConfig;
-
 #ifdef USE_SERVOS
     servoConfig_t servoConfig;
     servoMixerConfig_t servoMixerConfig;

src/main/config/parameter_group_ids.h

@@ -41,7 +41,7 @@
 //#define PG_PROFILE_SELECTION 23
 #define PG_RX_CONFIG 24
 //#define PG_RC_CONTROLS_CONFIG 25
-//#define PG_MOTOR_3D_CONFIG 26
+#define PG_MOTOR_3D_CONFIG 26
 //#define PG_LED_STRIP_CONFIG 27
 //#define PG_COLOR_CONFIG 28
 //#define PG_AIRPLANE_ALT_HOLD_CONFIG 29

src/main/fc/config.c

@@ -236,14 +236,6 @@ void resetServoConfig(servoConfig_t *servoConfig)
 }
 #endif
 
-void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
-{
-    flight3DConfig->deadband3d_low = 1406;
-    flight3DConfig->deadband3d_high = 1514;
-    flight3DConfig->neutral3d = 1460;
-    flight3DConfig->deadband3d_throttle = 50;
-}
-
 #ifdef TELEMETRY
 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 {
@@ -422,8 +414,6 @@ void createDefaultConfig(master_t *config)
     resetServoConfig(&config->servoConfig);
 #endif
 
-    resetFlight3DConfig(&config->flight3DConfig);
-
 #ifdef GPS
     // gps/nav stuff
     config->gpsConfig.provider = GPS_UBLOX;
@@ -624,7 +614,6 @@ static void activateConfig(void)
     setAccelerationCalibrationValues();
     setAccelerationFilter();
 
-    mixerUseConfigs(&masterConfig.flight3DConfig);
 #ifdef USE_SERVOS
     servosUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoConf);
 #endif
@@ -638,7 +627,7 @@ static void activateConfig(void)
     navigationUsePIDs(&currentProfile->pidProfile);
     navigationUseRcControlsConfig(&masterConfig.rcControlsConfig);
     navigationUseRxConfig(rxConfig());
-    navigationUseFlight3DConfig(&masterConfig.flight3DConfig);
+    navigationUseFlight3DConfig(flight3DConfig());
     navigationUsemotorConfig(motorConfig());
 #endif
 }

src/main/fc/fc_init.c

@@ -545,7 +545,7 @@ void init(void)
         &currentProfile->pidProfile,
         &masterConfig.rcControlsConfig,
         rxConfig(),
-        &masterConfig.flight3DConfig,
+        flight3DConfig(),
         motorConfig()
     );
 #endif

src/main/fc/serial_cli.c

@@ -611,6 +611,13 @@ static const clivalue_t valueTable[] = {
 // PG_MIXER_CONFIG
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, .config.minmax = { -1,  1 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motor_direction) },
     { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW,  YAW_JUMP_PREVENTION_LIMIT_HIGH }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_jump_prevention_limit) },
+
+// PG_MOTOR_3D_CONFIG
+    { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) }, // FIXME upper limit should match code in the mixer, 1500 currently
+    { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_high) }, // FIXME lower limit should match code in the mixer, 1500 currently,
+    { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) },
+    { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) },
+
 };
 
 #else
@@ -633,11 +640,6 @@ const clivalue_t valueTable[] = {
 
     { "input_filtering_mode",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &pwmRxConfig()->inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
 
-    { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
-    { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
-    { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-
     { "fixed_wing_auto_arm",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &armingConfig()->fixed_wing_auto_arm, .config.lookup = { TABLE_OFF_ON } },
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
     { "auto_disarm_delay",          VAR_UINT8  | MASTER_VALUE,  &armingConfig()->auto_disarm_delay, .config.minmax = { 0,  60 } },
@@ -1100,6 +1102,7 @@ static gimbalConfig_t gimbalConfigCopy;
 #endif
 static motorMixer_t customMotorMixerCopy[MAX_SUPPORTED_MOTORS];
 static mixerConfig_t mixerConfigCopy;
+static flight3DConfig_t flight3DConfigCopy;
 
 static void backupConfigs(void)
 {
@@ -1131,6 +1134,7 @@ static void backupConfigs(void)
         customMotorMixerCopy[ii] = *customMotorMixer(ii);
     }
     mixerConfigCopy = *mixerConfig();
+    flight3DConfigCopy = *flight3DConfig();
 }
 
 static void restoreConfigs(void)
@@ -1162,6 +1166,7 @@ static void restoreConfigs(void)
         *customMotorMixerMutable(ii) = customMotorMixerCopy[ii];
     }
     *mixerConfigMutable() = mixerConfigCopy;
+    *flight3DConfigMutable() = flight3DConfigCopy;
 }
 
 static void *getDefaultPointer(const void *valuePointer, const master_t *defaultConfig)
@@ -1208,6 +1213,8 @@ static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *
 #ifdef USE_SERVOS
         dumpPgValues(MASTER_VALUE, dumpMask, PG_GIMBAL_CONFIG, &gimbalConfigCopy, gimbalConfig());
 #endif
+        dumpPgValues(MASTER_VALUE, dumpMask, PG_MIXER_CONFIG, &mixerConfigCopy, mixerConfig());
+        dumpPgValues(MASTER_VALUE, dumpMask, PG_MOTOR_3D_CONFIG, &flight3DConfigCopy, flight3DConfig());
         return;
     }
 #endif

src/main/flight/mixer.c

@@ -68,7 +68,15 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
 bool motorLimitReached = false;
 
-static flight3DConfig_t *flight3DConfig;
+PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
+
+PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
+    .deadband3d_low = 1406,
+    .deadband3d_high = 1514,
+    .neutral3d = 1460,
+    .deadband3d_throttle = 50
+);
+
 
 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 
@@ -269,12 +277,6 @@ const mixer_t mixers[] = {
 };
 #endif // USE_QUAD_MIXER_ONLY
 
-void mixerUseConfigs(
-        flight3DConfig_t *flight3DConfigToUse)
-{
-    flight3DConfig = flight3DConfigToUse;
-}
-
 bool isMixerEnabled(mixerMode_e mixerMode)
 {
 #ifdef USE_QUAD_MIXER_ONLY
@@ -362,7 +364,7 @@ void mixerResetDisarmedMotors(void)
     int i;
     // set disarmed motor values
     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
-        motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig()->mincommand;
+        motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
 }
 
 void writeMotors(void)
@@ -385,7 +387,7 @@ void writeAllMotors(int16_t mc)
 
 void stopMotors(void)
 {
-    writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig()->mincommand);
+    writeAllMotors(feature(FEATURE_3D) ? flight3DConfig()->neutral3d : motorConfig()->mincommand);
 
     delay(50); // give the timers and ESCs a chance to react.
 }
@@ -429,20 +431,20 @@ void mixTable(void)
     if (feature(FEATURE_3D)) {
         if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
-            throttleMax = flight3DConfig->deadband3d_low;
+        if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Out of band handling
+            throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
+        } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
             throttleMax = motorConfig()->maxthrottle;
-            throttleMin = flight3DConfig->deadband3d_high;
+            throttleMin = flight3DConfig()->deadband3d_high;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
-            throttleCommand = throttleMax = flight3DConfig->deadband3d_low;
+        } else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
+            throttleCommand = throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
         } else {  // Deadband handling from positive to negative
             throttleMax = motorConfig()->maxthrottle;
-            throttleCommand = throttleMin = flight3DConfig->deadband3d_high;
+            throttleCommand = throttleMin = flight3DConfig()->deadband3d_high;
         }
     } else {
         throttleCommand = rcCommand[THROTTLE];
@@ -481,10 +483,10 @@ void mixTable(void)
             if (isFailsafeActive) {
                 motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
             } else if (feature(FEATURE_3D)) {
-                if (throttlePrevious <= (rxConfig()->midrc - flight3DConfig->deadband3d_throttle)) {
-                    motor[i] = constrain(motor[i], motorConfig()->minthrottle, flight3DConfig->deadband3d_low);
+                if (throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
+                    motor[i] = constrain(motor[i], motorConfig()->minthrottle, flight3DConfig()->deadband3d_low);
                 } else {
-                    motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, motorConfig()->maxthrottle);
+                    motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);
                 }
             } else {
                 motor[i] = constrain(motor[i], motorConfig()->minthrottle, motorConfig()->maxthrottle);

src/main/flight/mixer.h

@@ -106,15 +106,14 @@ typedef struct flight3DConfig_s {
     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 } flight3DConfig_t;
 
+PG_DECLARE(flight3DConfig_t, flight3DConfig);
+
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 extern bool motorLimitReached;
 
-void mixerUseConfigs(
-        flight3DConfig_t *flight3DConfigToUse);
-
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerUsePWMIOConfiguration(void);