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Merge pull request #1066 from martinbudden/inav_pg14_mixerConfig

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Added mixerConfig parameter group
This commit is contained in:
Martin Budden 2017-01-07 18:03:51 +00:00 • committed by GitHub
commit a966135eb5
10 changed files with 39 additions and 42 deletions
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5
src/main/config/config_master.h
View file

@ -65,8 +65,6 @@
#define navConfigMutable(x) (&masterConfig.navConfig)
#define armingConfig(x) (&masterConfig.armingConfig)
#define armingConfigMutable(x) (&masterConfig.armingConfig)
#define mixerConfig(x) (&masterConfig.mixerConfig)
#define mixerConfigMutable(x) (&masterConfig.mixerConfig)
#define serialConfig(x) (&masterConfig.serialConfig)
#define serialConfigMutable(x) (&masterConfig.serialConfig)
#define telemetryConfig(x) (&masterConfig.telemetryConfig)
@ -139,9 +137,6 @@ typedef struct master_s {
armingConfig_t armingConfig;
// mixer-related configuration
mixerConfig_t mixerConfig;
serialConfig_t serialConfig;
#ifdef TELEMETRY
telemetryConfig_t telemetryConfig;

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

@ -35,7 +35,7 @@
//#define PG_TRANSPONDER_CONFIG 17
//#define PG_SYSTEM_CONFIG 18
//#define PG_FEATURE_CONFIG 19
//#define PG_MIXER_CONFIG 20
#define PG_MIXER_CONFIG 20
//#define PG_SERVO_MIXER 21
//#define PG_IMU_CONFIG 22
//#define PG_PROFILE_SELECTION 23

10
src/main/fc/config.c
View file

@ -324,12 +324,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
rcControlsConfig->alt_hold_deadband = 50;
}
static void resetMixerConfig(mixerConfig_t *mixerConfig)
{
mixerConfig->yaw_motor_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 200;
}
#ifdef USE_SERVOS
static void resetServoMixerConfig(servoMixerConfig_t *servoMixerConfig)
{
@ -385,7 +379,6 @@ void createDefaultConfig(master_t *config)
memset(config, 0, sizeof(master_t));
config->version = EEPROM_CONF_VERSION;
config->mixerConfig.mixerMode = MIXER_QUADX;
uint32_t *featuresPtr = &config->enabledFeatures;
intFeatureClearAll(featuresPtr);
@ -424,7 +417,6 @@ void createDefaultConfig(master_t *config)
config->armingConfig.disarm_kill_switch = 1;
config->armingConfig.auto_disarm_delay = 5;
resetMixerConfig(&config->mixerConfig);
#ifdef USE_SERVOS
resetServoMixerConfig(&config->servoMixerConfig);
resetServoConfig(&config->servoConfig);
@ -632,7 +624,7 @@ static void activateConfig(void)
setAccelerationCalibrationValues();
setAccelerationFilter();
mixerUseConfigs(&masterConfig.flight3DConfig, &masterConfig.mixerConfig);
mixerUseConfigs(&masterConfig.flight3DConfig);
#ifdef USE_SERVOS
servosUseConfigs(&masterConfig.servoMixerConfig, masterConfig.servoConf);
#endif

19
src/main/fc/serial_cli.c
View file

@ -607,6 +607,10 @@ static const clivalue_t valueTable[] = {
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 3300 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterOffset) },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, multiwiiCurrentMeterOutput) },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CURRENT_SENSOR }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterType) },
// 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) },
};
#else
@ -760,8 +764,6 @@ const clivalue_t valueTable[] = {
{ "throttle_tilt_comp_str", VAR_UINT8 | MASTER_VALUE, &masterConfig.throttle_tilt_compensation_strength, .config.minmax = { 0, 100 }, },
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } },
{ "yaw_jump_prevention_limit", VAR_UINT16 | MASTER_VALUE, &mixerConfig()->yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH } },
#ifdef USE_SERVOS
{ "flaperon_throw_offset", VAR_INT16 | MASTER_VALUE, &masterConfig.flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX} },
@ -1097,6 +1099,7 @@ static boardAlignment_t boardAlignmentCopy;
static gimbalConfig_t gimbalConfigCopy;
#endif
static motorMixer_t customMotorMixerCopy[MAX_SUPPORTED_MOTORS];
static mixerConfig_t mixerConfigCopy;
static void backupConfigs(void)
{
@ -1127,6 +1130,7 @@ static void backupConfigs(void)
for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) {
customMotorMixerCopy[ii] = *customMotorMixer(ii);
}
mixerConfigCopy = *mixerConfig();
}
static void restoreConfigs(void)
@ -1157,6 +1161,7 @@ static void restoreConfigs(void)
for (int ii = 0; ii < MAX_SUPPORTED_MOTORS; ++ii) {
*customMotorMixerMutable(ii) = customMotorMixerCopy[ii];
}
*mixerConfigMutable() = mixerConfigCopy;
}
static void *getDefaultPointer(const void *valuePointer, const master_t *defaultConfig)
@ -2855,7 +2860,7 @@ static void cliMixer(char *cmdline)
len = strlen(cmdline);
if (len == 0) {
cliPrintf("Mixer: %s\r\n", mixerNames[mixerConfig()->mixerMode - 1]);
cliPrintf("Mixer: %s\r\n", mixerNames[mixerConfigMutable()->mixerMode - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
cliPrint("Available mixers: ");
@ -2874,7 +2879,7 @@ static void cliMixer(char *cmdline)
return;
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
mixerConfig()->mixerMode = i + 1;
mixerConfigMutable()->mixerMode = i + 1;
break;
}
}
@ -3346,10 +3351,10 @@ static void printConfig(char *cmdline, bool doDiff)
#ifndef USE_QUAD_MIXER_ONLY
cliPrintHashLine("mixer");
const bool equalsDefault = masterConfig.mixerConfig.mixerMode == defaultConfig.mixerConfig.mixerMode;
const bool equalsDefault = mixerConfigCopy.mixerMode == mixerConfig()->mixerMode;
const char *formatMixer = "mixer %s\r\n";
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerConfig.mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[masterConfig.mixerConfig.mixerMode - 1]);
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDumpPrintf(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n\r\n");

19
src/main/flight/mixer.c
View file

@ -68,9 +68,16 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
bool motorLimitReached = false;
mixerConfig_t *mixerConfig;
static flight3DConfig_t *flight3DConfig;
PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = MIXER_QUADX,
.yaw_motor_direction = 1,
.yaw_jump_prevention_limit = 200
);
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
PG_REGISTER_ARR(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
@ -263,11 +270,9 @@ const mixer_t mixers[] = {
#endif // USE_QUAD_MIXER_ONLY
void mixerUseConfigs(
flight3DConfig_t *flight3DConfigToUse,
mixerConfig_t *mixerConfigToUse)
flight3DConfig_t *flight3DConfigToUse)
{
flight3DConfig = flight3DConfigToUse;
mixerConfig = mixerConfigToUse;
}
bool isMixerEnabled(mixerMode_e mixerMode)
@ -394,9 +399,9 @@ void mixTable(void)
{
int i;
if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
if (motorCount >= 4 && mixerConfig()->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig()->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig()->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
@ -409,7 +414,7 @@ void mixTable(void)
rpyMix[i] =
axisPID[PITCH] * currentMixer[i].pitch +
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
-mixerConfig()->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (rpyMix[i] > rpyMixMax) rpyMixMax = rpyMix[i];
if (rpyMix[i] < rpyMixMin) rpyMixMin = rpyMix[i];

6
src/main/flight/mixer.h
View file

@ -97,6 +97,8 @@ typedef struct mixerConfig_s {
uint16_t yaw_jump_prevention_limit; // make limit configurable (original fixed value was 100)
} mixerConfig_t;
PG_DECLARE(mixerConfig_t, mixerConfig);
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
@ -110,10 +112,8 @@ extern int16_t motor[MAX_SUPPORTED_MOTORS];
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
extern bool motorLimitReached;
struct motorConfig_s;
void mixerUseConfigs(
flight3DConfig_t *flight3DConfigToUse,
mixerConfig_t *mixerConfigToUse);
flight3DConfig_t *flight3DConfigToUse);
void writeAllMotors(int16_t mc);
void mixerLoadMix(int index, motorMixer_t *customMixers);

8
src/main/flight/servos.c
View file

@ -102,6 +102,14 @@ static const servoMixer_t servoMixerTri[] = {
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100 },
};
// Custom mixer configuration
typedef struct mixerRules_s {
uint8_t servoRuleCount;
uint8_t minServoIndex;
uint8_t maxServoIndex;
const servoMixer_t *rule;
} mixerRules_t;
const mixerRules_t servoMixers[] = {
{ 0, 0, 0, NULL }, // entry 0
{ COUNT_SERVO_RULES(servoMixerTri), SERVO_RUDDER, SERVO_RUDDER, servoMixerTri }, // MULTITYPE_TRI

8
src/main/flight/servos.h
View file

@ -96,14 +96,6 @@ typedef struct servoMixer_s {
#define MAX_SERVO_SPEED UINT8_MAX
#define MAX_SERVO_BOXES 3
// Custom mixer configuration
typedef struct mixerRules_s {
uint8_t servoRuleCount;
uint8_t minServoIndex;
uint8_t maxServoIndex;
const servoMixer_t *rule;
} mixerRules_t;
typedef struct servoParam_s {
int16_t min; // servo min
int16_t max; // servo max

2
src/main/target/COLIBRI/config.c
View file

@ -74,7 +74,7 @@
void targetConfiguration(master_t *config)
{
config->mixerConfig.mixerMode = MIXER_HEX6X;
mixerConfigMutable()->mixerMode = MIXER_HEX6X;
rxConfigMutable()->serialrx_provider = 2;
featureSet(FEATURE_RX_SERIAL);
config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;

2
src/main/target/COLIBRI_RACE/config.c
View file

@ -90,7 +90,7 @@ void targetConfiguration(master_t *config)
featureSet(FEATURE_FAILSAFE);
config->serialConfig.portConfigs[0].functionMask = FUNCTION_MSP;
if(featureConfigured(FEATURE_RX_SERIAL)) {
if (featureConfigured(FEATURE_RX_SERIAL)) {
config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
}
}