add mixer_profile.h

src/main/CMakeLists.txt

@@ -310,8 +310,6 @@ main_sources(COMMON_SRC
     flight/rate_dynamics.h
     flight/mixer.c
     flight/mixer.h
-    flight/output_profile.c
-    flight/output_profile.h
     flight/pid.c
     flight/pid.h
     flight/pid_autotune.c
@@ -321,6 +319,8 @@ main_sources(COMMON_SRC
     flight/rth_estimator.h
     flight/servos.c
     flight/servos.h
+    flight/mixer_profile.c
+    flight/mixer_profile.h
     flight/wind_estimator.c
     flight/wind_estimator.h
     flight/gyroanalyse.c

src/main/cms/cms_menu_mixer_servo.c

@@ -31,6 +31,7 @@
 
 #include "build/version.h"
 
+#include "flight/mixer_profile.h"
 #include "flight/mixer.h"
 #include "flight/servos.h"
 

src/main/drivers/pwm_mapping.c

@@ -381,7 +381,6 @@ bool pwmMotorAndServoInit(void)
 
     // Build temporary timer mappings for motor and servo
     pwmBuildTimerOutputList(&timOutputs, isMixerUsingServos());
-    resetAllocatedOutputPortCount();
     // At this point we have built tables of timers suitable for motor and servo mappings
     // Now we can actually initialize them according to motor/servo count from mixer
     pwmInitMotors(&timOutputs);
@@ -389,3 +388,12 @@ bool pwmMotorAndServoInit(void)
 
     return (pwmInitError == PWM_INIT_ERROR_NONE);
 }
+
+bool pwmMotorAndServoHotInit(timMotorServoHardware_t* timOutputs)
+{
+    resetAllocatedOutputPortCount();
+    pwmInitMotors(timOutputs);
+    pwmInitServos(timOutputs);
+
+    return (pwmInitError == PWM_INIT_ERROR_NONE);
+}

src/main/drivers/pwm_mapping.h

@@ -19,7 +19,7 @@
 
 #include "drivers/io_types.h"
 #include "drivers/timer.h"
-#include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/servos.h"
 
 #if defined(TARGET_MOTOR_COUNT)
@@ -79,8 +79,9 @@ typedef struct {
     bool isDSHOT;
 } motorProtocolProperties_t;
 
-void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerUsingServos)
+void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerUsingServos);
 bool pwmMotorAndServoInit(void);
+bool pwmMotorAndServoHotInit(timMotorServoHardware_t* timOutputs);
 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
 pwmInitError_e getPwmInitError(void);
 const char * getPwmInitErrorMessage(void);

src/main/fc/cli.c

@@ -81,7 +81,8 @@ bool cliMode = false;
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
-#include "flight/mixer.h"
+// #include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 
@@ -282,7 +283,8 @@ typedef enum {
     DUMP_MASTER = (1 << 0),
     DUMP_PROFILE = (1 << 1),
     DUMP_BATTERY_PROFILE = (1 << 2),
-    DUMP_RATES = (1 << 3),
+    // DUMP_RATES = (1 << 3),
+    DUMP_MIXER_PROFILE = (1 << 3),
     DUMP_ALL = (1 << 4),
     DO_DIFF = (1 << 5),
     SHOW_DEFAULTS = (1 << 6),
@@ -3567,6 +3569,8 @@ static void printConfig(const char *cmdline, bool doDiff)
         dumpMask = DUMP_PROFILE; // only
     } else if ((options = checkCommand(cmdline, "battery_profile"))) {
         dumpMask = DUMP_BATTERY_PROFILE; // only
+    } else if ((options = checkCommand(cmdline, "mixer_profile"))) {
+        dumpMask = DUMP_MIXER_PROFILE; // only
     } else if ((options = checkCommand(cmdline, "all"))) {
         dumpMask = DUMP_ALL;   // all profiles and rates
     } else {
@@ -3712,6 +3716,9 @@ static void printConfig(const char *cmdline, bool doDiff)
             for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) {
                 cliDumpBatteryProfile(ii, dumpMask);
             }
+            for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) {
+                cliDumpMixerProfile(ii, dumpMask);
+            }
             setConfigProfile(currentProfileIndexSave);
             setConfigBatteryProfile(currentBatteryProfileIndexSave);
 
@@ -3726,6 +3733,7 @@ static void printConfig(const char *cmdline, bool doDiff)
             // dump just the current profiles
             cliDumpProfile(getConfigProfile(), dumpMask);
             cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
+            cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
         }
     }
 
@@ -3737,6 +3745,10 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
     }
 
+    if (dumpMask & DUMP_MIXER_PROFILE) {
+        cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
+    }
+
     if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
         cliPrintHashLine("save configuration\r\nsave");
     }

src/main/fc/fc_core.c

@@ -82,6 +82,7 @@ FILE_COMPILE_FOR_SPEED
 
 #include "telemetry/telemetry.h"
 
+#include "flight/mixer_profile.h"
 #include "flight/mixer.h"
 #include "flight/servos.h"
 #include "flight/pid.h"

src/main/fc/fc_msp.c

@@ -73,6 +73,7 @@
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
+#include "flight/mixer_profile.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/servos.h"

src/main/fc/fc_msp_box.c

@@ -30,6 +30,7 @@
 #include "fc/fc_msp_box.h"
 #include "fc/runtime_config.h"
 #include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 
 #include "io/osd.h"
 

src/main/fc/settings.yaml

@@ -1148,33 +1148,35 @@ groups:
 
   - name: PG_MIXER_PROFILE
     type: mixerProfile_t
+    headers: ["flight/mixer.h","flight/mixer_profile.h"]
+    value_type: MIXER_CONFIG_VALUE
     members:
       - name: motor_direction_inverted
         description: "Use if you need to inverse yaw motor direction."
         default_value: OFF
-        field: motorDirectionInverted
+        field: mixer_config.motorDirectionInverted
         type: bool
       - name: platform_type
         description: "Defines UAV platform type. Allowed values: \"MULTIROTOR\", \"AIRPLANE\", \"HELICOPTER\", \"TRICOPTER\", \"ROVER\", \"BOAT\". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented"
         default_value: "MULTIROTOR"
-        field: platformType
+        field: mixer_config.platformType
         type: uint8_t
         table: platform_type
       - name: has_flaps
         description: "Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot"
         default_value: OFF
-        field: hasFlaps
+        field: mixer_config.hasFlaps
         type: bool
       - name: model_preview_type
         description: "ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons."
         default_value: -1
-        field: appliedMixerPreset
+        field: mixer_config.appliedMixerPreset
         min: -1
         max: INT16_MAX
       - name: output_mode
         description: "Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors"
         default_value: "AUTO"
-        field: outputMode
+        field: mixer_config.outputMode
         table: output_mode
 
   - name: PG_REVERSIBLE_MOTORS_CONFIG

src/main/flight/mixer.c

@@ -83,24 +83,24 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
     .deadband_high = SETTING_3D_DEADBAND_HIGH_DEFAULT,
     .neutral = SETTING_3D_NEUTRAL_DEFAULT
 );
-PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
+// PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
 
-void pgResetFn_mixerProfiles(mixerProfile_t *instance)
+// void pgResetFn_mixerProfiles(mixerProfile_t *instance)
-{
+// {
-    for (int i = 0; i < MAX_MIXER_PROFILE_COUNT; i++) {
+//     for (int i = 0; i < MAX_MIXER_PROFILE_COUNT; i++) {
-        RESET_CONFIG(mixerProfile_t, &instance[i],
+//         RESET_CONFIG(mixerProfile_t, &instance[i],
-            .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
+//             .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
-            .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
+//             .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
-            .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
+//             .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
-            .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
+//             .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
-            .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
+//             .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
-        );
+//         );
-        motorMixer_t tmp_mixer = {.throttle=0,.roll=0,.pitch=0,.yaw=0};
+//         motorMixer_t tmp_mixer = {.throttle=0,.roll=0,.pitch=0,.yaw=0};
-        for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
+//         for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
-            instance->MotorMixer[j] = tmp_mixer;
+//             instance->MotorMixer[j] = tmp_mixer;
-        }
+//         }
-    }
+//     }
-}
+// }
 
 // PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_PROFILE, 5);
 
@@ -122,8 +122,6 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .motorPoleCount = SETTING_MOTOR_POLES_DEFAULT,            // Most brushless motors that we use are 14 poles
 );
 
-PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTOR_MIXER, 0);
-
 #define CRASH_OVER_AFTER_CRASH_FLIP_STICK_MIN 0.15f
 
 int getThrottleIdleValue(void)
@@ -438,7 +436,6 @@ void FAST_CODE writeMotors(void)
         // We don't define USE_DSHOT
         motorValue = motor[i];
 #endif
-
         pwmWriteMotor(i, motorValue);
     }
 }

src/main/flight/mixer.h

@@ -19,10 +19,6 @@
 
 #include "config/parameter_group.h"
 
-#ifndef MAX_MIXER_PROFILE_COUNT
-#define MAX_MIXER_PROFILE_COUNT 2
-#endif
-
 #if defined(TARGET_MOTOR_COUNT)
 #define MAX_SUPPORTED_MOTORS TARGET_MOTOR_COUNT
 #else
@@ -67,23 +63,31 @@ typedef struct motorMixer_s {
     float yaw;
 } motorMixer_t;
 
-PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
+// PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
 
-typedef struct mixerProfile_s {
+typedef struct mixerConfig_s {
     int8_t motorDirectionInverted;
     uint8_t platformType;
     bool hasFlaps;
     int16_t appliedMixerPreset;
     uint8_t outputMode;
-    motorMixer_t MotorMixer[MAX_SUPPORTED_MOTORS];
+} mixerConfig_t;
-} mixerProfile_t;
 
-PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
+// typedef struct mixerProfile_s {
-#define mixerConfig() mixerProfiles(systemConfig()->current_mixer_profile_index)
+//     int8_t motorDirectionInverted;
-#define mixerConfigMutable() ((mixerProfile_t *)mixerConfig())
+//     uint8_t platformType;
-#define primaryMotorMixer(_index) (&((mixerConfig()->MotorMixer)[_index]))
+//     bool hasFlaps;
-#define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
+//     int16_t appliedMixerPreset;
-extern motorMixer_t primaryMotorMixer_CopyArray[12];
+//     uint8_t outputMode;
+//     motorMixer_t MotorMixer[MAX_SUPPORTED_MOTORS];
+// } mixerProfile_t;
+
+// PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
+// #define mixerConfig() mixerProfiles(systemConfig()->current_mixer_profile_index)
+// #define mixerConfigMutable() ((mixerProfile_t *)mixerConfig())
+// #define primaryMotorMixer(_index) (&((mixerConfig()->MotorMixer)[_index]))
+// #define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
+// extern motorMixer_t primaryMotorMixer_CopyArray[12];
 
 typedef struct reversibleMotorsConfig_s {
     uint16_t deadband_low;                // min 3d value

src/main/flight/mixer_profile.c

@@ -0,0 +1,109 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "config/feature.h"
+#include "config/parameter_group.h"
+#include "config/parameter_group_ids.h"
+#include "config/config_reset.h"
+
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/time.h"
+#include "flight/mixer.h"
+// #include "flight/pid.h"
+#include "flight/servos.h"
+
+#include "fc/config.h"
+#include "fc/runtime_config.h"
+#include "fc/settings.h"
+
+#include "common/log.h"
+
+PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
+
+void pgResetFn_mixerProfiles(mixerProfile_t *instance)
+{
+    for (int i = 0; i < MAX_MIXER_PROFILE_COUNT; i++) {
+        RESET_CONFIG(mixerProfile_t, &instance[i],
+            .mixer_config = {
+                .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
+                .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
+                .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
+                .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
+                .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
+            }
+        );
+        motorMixer_t tmp_mixer = {.throttle=0,.roll=0,.pitch=0,.yaw=0};
+        for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
+            instance->MotorMixers[j] = tmp_mixer;
+        }
+    }
+}
+
+PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTOR_MIXER, 0);
+
+int min_ab(int a,int b)
+{
+    return a > b ? b : a;
+}
+
+bool OutputProfileHotSwitch(int profile_index)
+{   
+    // does not work with timerHardwareOverride
+    LOG_INFO(PWM, "OutputProfileHotSwitch");
+
+    LOG_INFO(PWM, "stop all motors");
+    stopMotors();
+    // LOG_INFO(PWM, "stop all pwm motors");
+    // stopPwmAllMotors();
+
+    //store current output for check
+    LOG_INFO(PWM, "get old_timOutputs");
+    // delay(1000); // give time to print
+    timMotorServoHardware_t old_timOutputs;
+    LOG_INFO(PWM, "get pwmBuildTimerOutputList");
+    // delay(1000); // give time to print
+    pwmBuildTimerOutputList(&old_timOutputs, isMixerUsingServos());
+    // delay(1000); // give time to print
+    if (!setConfigMixerProfile(profile_index)){
+        return false;
+    }
+    // delay(1000); // give time to print
+    LOG_INFO(PWM, "servosInit");
+    // delay(1000); // give time to print
+    servosInit();
+    LOG_INFO(PWM, "mixerUpdateStateFlags");
+    // delay(1000); // give time to print
+    mixerUpdateStateFlags();
+    LOG_INFO(PWM, "mixerInit");
+    // delay(1000); // give time to print
+    mixerInit();
+
+    LOG_INFO(PWM, "get timOutputs");
+    // delay(1000); // give time to print
+    timMotorServoHardware_t timOutputs;
+    pwmBuildTimerOutputList(&timOutputs, isMixerUsingServos());
+    LOG_INFO(PWM, "check changes");
+    // delay(1000); // give time to print, stuck here
+    bool motor_output_type_not_changed = old_timOutputs.maxTimMotorCount == timOutputs.maxTimMotorCount;
+    bool servo_output_type_not_changed = old_timOutputs.maxTimServoCount == timOutputs.maxTimServoCount;
+    for (int i; i < min_ab(old_timOutputs.maxTimMotorCount,timOutputs.maxTimMotorCount); i++)
+    {
+        motor_output_type_not_changed &= old_timOutputs.timMotors[i]->tag==timOutputs.timMotors[i]->tag;
+    }
+    for (int i; i < min_ab(old_timOutputs.maxTimServoCount,timOutputs.maxTimServoCount); i++)
+    {
+        servo_output_type_not_changed &= old_timOutputs.timServos[i]->tag==timOutputs.timServos[i]->tag;
+    }
+    if(!motor_output_type_not_changed || !servo_output_type_not_changed){
+        LOG_INFO(PWM, "pwmMotorAndServoHotInit");
+        // delay(1000); // give time to print
+        pwmMotorAndServoHotInit(&timOutputs);
+    }
+    if (!STATE(ALTITUDE_CONTROL)) {
+        featureClear(FEATURE_AIRMODE);
+    }
+    return true;
+}
+

src/main/flight/mixer_profile.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include "config/parameter_group.h"
+
+#include "flight/mixer.h"
+#include "flight/servos.h"
+
+#ifndef MAX_MIXER_PROFILE_COUNT
+#define MAX_MIXER_PROFILE_COUNT 2
+#endif
+
+typedef struct mixerProfile_s {
+    mixerConfig_t mixer_config;
+    motorMixer_t MotorMixers[MAX_SUPPORTED_MOTORS];
+    servoMixer_t ServoMixers[MAX_SERVO_RULES];
+} mixerProfile_t;
+
+PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
+
+#define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
+#define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())
+#define primaryMotorMixer(_index) (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->MotorMixers)[_index])
+#define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
+extern motorMixer_t primaryMotorMixer_CopyArray[12];
+
+bool OutputProfileHotSwitch(int profile_index);

src/main/flight/output_profile.c

@@ -1,39 +0,0 @@
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-
-#include "drivers/pwm_output.h"
-#include "drivers/pwm_mapping.h"
-#include "drivers/time.h"
-#include "flight/mixer.h"
-// #include "flight/pid.h"
-#include "flight/servos.h"
-
-
-bool MixerProfileHotSwitch(void)
-{
-    //store current output for check
-    timMotorServoHardware_t old_timOutputs;
-    pwmBuildTimerOutputList(&old_timOutputs, isMixerUsingServos());
-
-    servosInit();
-    mixerUpdateStateFlags();
-    mixerInit();
-
-    timMotorServoHardware_t timOutputs;
-    pwmBuildTimerOutputList(&timOutputs, isMixerUsingServos());
-    bool motor_output_type_not_changed = old_timOutputs.maxTimMotorCount == timOutputs.maxTimMotorCount;
-    bool servo_output_type_not_changed = old_timOutputs.maxTimServoCount == timOutputs.maxTimServoCount;
-    for (int i; i++; i <MAX_PWM_OUTPUT_PORTS)
-    {
-        motor_output_type_not_changed &= old_timOutputs.timMotors[i].tag==timOutputs.timMotors[i].tag;
-        servo_output_type_not_changed &= old_timOutputs.timServos[i].tag==timOutputs.timServos[i].tag;
-    }
-    if(!motor_output_type_not_changed){
-        pwmInitMotors(&timOutputs);
-    }
-    if(!servo_output_type_not_changed){
-        pwmInitServos(&timOutputs);
-    }
-}
-

src/main/flight/output_profile.h

@@ -1,4 +0,0 @@
-#pragma once
-
-
-bool MixerProfileHotSwitch(void);

src/main/flight/pid.c

@@ -45,6 +45,7 @@ FILE_COMPILE_FOR_SPEED
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/rpm_filter.h"
 #include "flight/kalman.h"
 #include "flight/smith_predictor.h"

src/main/flight/servos.c

@@ -154,6 +154,10 @@ void servosInit(void)
         servoOutputEnabled = true;
         mixerUsesServos = true;
     }
+    else {
+        servoOutputEnabled = false;
+        mixerUsesServos = false;
+    }
 
     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servoComputeScalingFactors(i);

src/main/navigation/navigation.c

@@ -46,7 +46,7 @@
 #include "fc/settings.h"
 
 #include "flight/imu.h"
-#include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/pid.h"
 
 #include "io/beeper.h"

src/main/programming/logic_condition.c

@@ -50,6 +50,7 @@
 #include "io/osd_common.h"
 #include "sensors/diagnostics.h"
 
+#include "flight/mixer_profile.h"
 #include "flight/mixer.h"
 #include "flight/servos.h"
 #include "drivers/pwm_mapping.h"
@@ -369,16 +370,7 @@ static int logicConditionCompute(
             operandA--;
             if ( getConfigMixerProfile() != operandA  && (operandA >= 0 && operandA < MAX_MIXER_PROFILE_COUNT)) {
                 bool mixerprofileChanged = false;
-                if (setConfigMixerProfile(operandA)) {
+                if (OutputProfileHotSwitch(operandA)) {
-                    stopMotors();
-                    stopPwmAllMotors();
-                    servosInit();
-                    mixerUpdateStateFlags();
-                    mixerInit();
-                    pwmMotorAndServoInit();
-                    if (!STATE(ALTITUDE_CONTROL)) {
-                        featureClear(FEATURE_AIRMODE);
-                    }
                     mixerprofileChanged = true;
                 }
                 return mixerprofileChanged;

src/main/telemetry/mavlink.c

@@ -54,7 +54,7 @@
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
-#include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
 

src/test/unit/flight_mixer_unittest.cc.txt

@@ -144,7 +144,7 @@ TEST_F(ChannelForwardingTest, TestForwardAuxChannelsToServosWithLessRemainingSer
 
 class BasicMixerIntegrationTest : public ::testing::Test {
 protected:
-    mixerProfile_t mixerConfig;
+    mixerConfig_t mixerConfig;
     rxConfig_t rxConfig;
     escAndServoConfig_t escAndServoConfig;
     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];