mixerMode removed

src/main/blackbox/blackbox.c

@@ -476,7 +476,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
         return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
 
     case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
-        return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
+        return mixerConfig()->platformType == PLATFORM_TRICOPTER;
 
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:

src/main/drivers/pwm_mapping.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include "drivers/io_types.h"
+#include "flight/mixer.h"
 
 #if defined(TARGET_MOTOR_COUNT)
 #define MAX_PWM_MOTORS TARGET_MOTOR_COUNT
@@ -43,12 +44,6 @@ typedef struct rangefinderIOConfig_s {
     ioTag_t echoTag;
 } rangefinderIOConfig_t;
 
-typedef enum {
-    PLATFORM_MULTIROTOR     = 0,
-    PLATFORM_AIRPLANE       = 1,
-    PLATFORM_HELICOPTER     = 2
-} flyingPlatformType_e;
-
 typedef struct drv_pwm_config_s {
     int flyingPlatformType;
 

src/main/fc/cli.c

@@ -1966,40 +1966,6 @@ static void cliGpsPassthrough(char *cmdline)
 }
 #endif
 
-static void cliMixer(char *cmdline)
-{
-    int len;
-
-    len = strlen(cmdline);
-
-    if (len == 0) {
-        cliPrintLinef("Mixer: %s", mixerNames[mixerConfigMutable()->mixerMode - 1]);
-        return;
-    } else if (sl_strncasecmp(cmdline, "list", len) == 0) {
-        cliPrint("Available mixers: ");
-        for (uint32_t i = 0; ; i++) {
-            if (mixerNames[i] == NULL)
-                break;
-            cliPrintf("%s ", mixerNames[i]);
-        }
-        cliPrintLinefeed();
-        return;
-    }
-
-    for (uint32_t i = 0; ; i++) {
-        if (mixerNames[i] == NULL) {
-            cliPrintLine("Invalid name");
-            return;
-        }
-        if (sl_strncasecmp(cmdline, mixerNames[i], len) == 0) {
-            mixerConfigMutable()->mixerMode = i + 1;
-            break;
-        }
-    }
-
-    cliMixer("");
-}
-
 static void cliMotor(char *cmdline)
 {
     int motor_index = 0;
@@ -2529,11 +2495,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         //printResource(dumpMask, &defaultConfig);
 
         cliPrintHashLine("mixer");
-        const bool equalsDefault = mixerConfig_Copy.mixerMode == mixerConfig()->mixerMode;
-        const char *formatMixer = "mixer %s";
-        cliDefaultPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
-        cliDumpPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig_Copy.mixerMode - 1]);
-
         cliDumpPrintLinef(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
 
         printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
@@ -2696,9 +2657,6 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
 #endif
     CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
-    CLI_COMMAND_DEF("mixer", "configure mixer",
-        "list\r\n"
-        "\t<name>", cliMixer),
     CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
     CLI_COMMAND_DEF("motor",  "get/set motor", "<index> [<value>]", cliMotor),
     CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),

src/main/fc/fc_core.c

@@ -610,7 +610,7 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 
-    if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
+    if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
         DISABLE_FLIGHT_MODE(HEADFREE_MODE);
     }
 
@@ -754,10 +754,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // motors do not spin up while we are trying to arm or disarm.
     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
-            && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
-            && mixerConfig()->mixerMode != MIXER_AIRPLANE
-            && mixerConfig()->mixerMode != MIXER_FLYING_WING
-            && mixerConfig()->mixerMode != MIXER_CUSTOM_AIRPLANE
+            && !((mixerConfig()->platformType == PLATFORM_TRICOPTER) && servoConfig()->tri_unarmed_servo)
+            && mixerConfig()->platformType != PLATFORM_AIRPLANE
     ) {
         rcCommand[YAW] = 0;
     }

src/main/fc/fc_msp.c

@@ -345,7 +345,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     // DEPRECATED - Use MSP_API_VERSION
     case MSP_IDENT:
         sbufWriteU8(dst, MW_VERSION);
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); //We no longer have mixerMode, just sent 3 (QuadX) as fallback
         sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
         sbufWriteU32(dst, CAP_PLATFORM_32BIT | CAP_DYNBALANCE | CAP_FLAPS | CAP_NAVCAP | CAP_EXTAUX); // "capability"
         break;
@@ -821,7 +821,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_MIXER:
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
         break;
 
     case MSP_RX_CONFIG:
@@ -867,7 +867,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_BF_CONFIG:
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
 
         sbufWriteU32(dst, featureMask());
 
@@ -2162,7 +2162,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_MIXER:
         if (dataSize >= 1) {
-            mixerConfigMutable()->mixerMode = sbufReadU8(src);
+            sbufReadU8(src); //This is ignored, no longer supporting mixerMode
             mixerUpdateStateFlags();    // Required for correct preset functionality
         } else
             return MSP_RESULT_ERROR;
@@ -2227,7 +2227,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_BF_CONFIG:
         if (dataSize >= 16) {
-            mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
+            sbufReadU8(src); // mixerMode no longer supported, just swallow
             mixerUpdateStateFlags();    // Required for correct preset functionality
 
             featureClearAll();

src/main/fc/settings.yaml

@@ -91,7 +91,7 @@ tables:
     values: ["PERCENT", "MAH", "MWH"]
     enum: smartportFuelUnit_e
   - name: platform_type
-    values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER"]
+    values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
     enum: flyingPlatformType_e
 
 groups:

src/main/flight/mixer.c

@@ -71,7 +71,6 @@ PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 1);
 
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
-    .mixerMode = MIXER_QUADX,
     .yaw_motor_direction = 1,
     .yaw_jump_prevention_limit = 200,
     .platformType = PLATFORM_MULTIROTOR,

src/main/flight/mixer.h

@@ -28,36 +28,14 @@
 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
 
-
-// Note: this is called MultiType/MULTITYPE_* in baseflight.
-typedef enum mixerMode
-{
-    MIXER_TRI = 1,
-    MIXER_QUADP = 2,
-    MIXER_QUADX = 3,
-    MIXER_BICOPTER = 4,
-    MIXER_GIMBAL = 5,
-    MIXER_Y6 = 6,
-    MIXER_HEX6 = 7,
-    MIXER_FLYING_WING = 8,
-    MIXER_Y4 = 9,
-    MIXER_HEX6X = 10,
-    MIXER_OCTOX8 = 11,
-    MIXER_OCTOFLATP = 12,
-    MIXER_OCTOFLATX = 13,
-    MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
-    MIXER_HELI_120_CCPM = 15,
-    MIXER_HELI_90_DEG = 16,
-    MIXER_VTAIL4 = 17,
-    MIXER_HEX6H = 18,
-    MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
-    MIXER_DUALCOPTER = 20,
-    MIXER_SINGLECOPTER = 21,
-    MIXER_ATAIL4 = 22,
-    MIXER_CUSTOM = 23,
-    MIXER_CUSTOM_AIRPLANE = 24,
-    MIXER_CUSTOM_TRI = 25
-} mixerMode_e;
+typedef enum {
+    PLATFORM_MULTIROTOR     = 0,
+    PLATFORM_AIRPLANE       = 1,
+    PLATFORM_HELICOPTER     = 2,
+    PLATFORM_TRICOPTER      = 3,
+    PLATFORM_ROVER          = 4,
+    PLATFORM_BOAT           = 5
+} flyingPlatformType_e;
 
 #define DEFAULT_MIXER MIXER_QUADX
 
@@ -77,7 +55,6 @@ typedef struct motorMixer_s {
 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
 
 typedef struct mixerConfig_s {
-    uint8_t mixerMode;
     int8_t yaw_motor_direction;
     uint16_t yaw_jump_prevention_limit;      // make limit configurable (original fixed value was 100)
     uint8_t platformType;

src/main/flight/servos.c

@@ -235,8 +235,7 @@ void writeServos(void)
     /*
      * in case of tricopters, there might me a need to zero servo output when unarmed
      */
-    const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
-    if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoConfig()->tri_unarmed_servo) {
+    if (mixerConfig()->platformType == PLATFORM_TRICOPTER && !ARMING_FLAG(ARMED) && !servoConfig()->tri_unarmed_servo) {
         zeroServoValue = true;
     }
 

src/main/target/COLIBRI/config.c

@@ -31,7 +31,6 @@
 
 void targetConfiguration(void)
 {
-    mixerConfigMutable()->mixerMode = MIXER_HEX6X;
     rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
     rxConfigMutable()->receiverType = RX_TYPE_SERIAL;
     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;

src/main/target/FALCORE/config.c

@@ -43,7 +43,7 @@
 void targetConfiguration(void)
 {
     systemConfigMutable()->asyncMode = ASYNC_MODE_NONE;
-    mixerConfigMutable()->mixerMode = MIXER_QUADX;
+    mixerConfigMutable()->platformType = PLATFORM_MULTIROTOR;
     
     featureSet(FEATURE_VBAT);
     featureSet(FEATURE_GPS);

src/main/target/FF_F35_LIGHTNING/config.c

@@ -50,5 +50,5 @@ void targetConfiguration(void)
     serialConfigMutable()->portConfigs[6].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
     telemetryConfigMutable()->smartportUartUnidirectional = 1;
 
-    mixerConfigMutable()->mixerMode = MIXER_AIRPLANE;
+    mixerConfigMutable()->platformType = PLATFORM_AIRPLANE;
 }

src/main/telemetry/mavlink.c

@@ -428,34 +428,24 @@ void mavlinkSendHUDAndHeartbeat(void)
         mavModes |= MAV_MODE_FLAG_SAFETY_ARMED;
 
     uint8_t mavSystemType;
-    switch (mixerConfig()->mixerMode)
+    switch (mixerConfig()->platformType)
     {
-        case MIXER_TRI:
-            mavSystemType = MAV_TYPE_TRICOPTER;
-            break;
-        case MIXER_QUADP:
-        case MIXER_QUADX:
-        case MIXER_Y4:
-        case MIXER_VTAIL4:
+        case PLATFORM_MULTIROTOR:
             mavSystemType = MAV_TYPE_QUADROTOR;
             break;
-        case MIXER_Y6:
-        case MIXER_HEX6:
-        case MIXER_HEX6X:
-            mavSystemType = MAV_TYPE_HEXAROTOR;
+        case PLATFORM_TRICOPTER:
+            mavSystemType = MAV_TYPE_TRICOPTER;
             break;
-        case MIXER_OCTOX8:
-        case MIXER_OCTOFLATP:
-        case MIXER_OCTOFLATX:
-            mavSystemType = MAV_TYPE_OCTOROTOR;
-            break;
-        case MIXER_FLYING_WING:
-        case MIXER_AIRPLANE:
-        case MIXER_CUSTOM_AIRPLANE:
+        case PLATFORM_AIRPLANE:
             mavSystemType = MAV_TYPE_FIXED_WING;
             break;
-        case MIXER_HELI_120_CCPM:
-        case MIXER_HELI_90_DEG:
+        case PLATFORM_ROVER:
+            mavSystemType = MAV_TYPE_GROUND_ROVER;
+            break;
+        case PLATFORM_BOAT:
+            mavSystemType = MAV_TYPE_SURFACE_BOAT;
+            break;
+        case PLATFORM_HELICOPTER:
             mavSystemType = MAV_TYPE_HELICOPTER;
             break;
         default: