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Code Issues Wiki Activity

Remove some unnecessary checks for mixer mode; Update state flags when mixer mode is changed

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-01-30 01:30:31 +10:00
parent 73a5459828
commit bbacaa7705
5 changed files with 29 additions and 25 deletions
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6
src/main/fc/fc_init.c
View file

@ -242,6 +242,7 @@ void init(void)
#ifdef USE_SERVOS
servosInit();
mixerUpdateStateFlags(); // This needs to be called early to allow pwm mapper to use information about FIXED_WING state
#endif
drv_pwm_config_t pwm_params;
@ -259,10 +260,7 @@ void init(void)
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
pwm_params.airplane = STATE(FIXED_WING);
#if defined(USE_UART2) && defined(STM32F10X)
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
#endif

11
src/main/fc/fc_msp.c
View file

@ -273,14 +273,12 @@ static void initActiveBoxIds(void)
if (feature(FEATURE_SERVO_TILT))
activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
bool isFixedWing = mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE;
#ifdef GPS
if (sensors(SENSOR_BARO) || (isFixedWing && feature(FEATURE_GPS))) {
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (isFixedWing && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
@ -289,7 +287,7 @@ static void initActiveBoxIds(void)
}
#endif
if (isFixedWing) {
if (STATE(FIXED_WING)) {
activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
@ -300,7 +298,7 @@ static void initActiveBoxIds(void)
* FLAPERON mode active only in case of airplane and custom airplane. Activating on
* flying wing can cause bad thing
*/
if (mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
if (STATE(FLAPERON_AVAILABLE)) {
activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
}
#endif
@ -1845,6 +1843,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER:
mixerConfigMutable()->mixerMode = sbufReadU8(src);
mixerUpdateStateFlags(); // Required for correct preset functionality
break;
#endif

21
src/main/flight/mixer.c
View file

@ -304,6 +304,27 @@ bool isMixerEnabled(mixerMode_e mixerMode)
}
#ifdef USE_SERVOS
void mixerUpdateStateFlags(void)
{
const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
// set flag that we're on something with wings
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE ||
currentMixerMode == MIXER_CUSTOM_AIRPLANE
) {
ENABLE_STATE(FIXED_WING);
} else {
DISABLE_STATE(FIXED_WING);
}
if (currentMixerMode == MIXER_AIRPLANE || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
ENABLE_STATE(FLAPERON_AVAILABLE);
} else {
DISABLE_STATE(FLAPERON_AVAILABLE);
}
}
void mixerUsePWMIOConfiguration(void)
{
int i;

1
src/main/flight/mixer.h
View file

@ -123,6 +123,7 @@ extern bool motorLimitReached;
void writeAllMotors(int16_t mc);
void mixerLoadMix(int index, motorMixer_t *customMixers);
void mixerUsePWMIOConfiguration(void);
void mixerUpdateStateFlags(void);
void mixerResetDisarmedMotors(void);
void mixTable(void);
void writeMotors(void);

15
src/main/flight/servos.c
View file

@ -199,21 +199,6 @@ int servoDirection(int servoIndex, int inputSource)
void servosInit(void)
{
const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
// set flag that we're on something with wings
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE ||
currentMixerMode == MIXER_CUSTOM_AIRPLANE
) {
ENABLE_STATE(FIXED_WING);
} else {
DISABLE_STATE(FIXED_WING);
}
if (currentMixerMode == MIXER_AIRPLANE || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
ENABLE_STATE(FLAPERON_AVAILABLE);
} else {
DISABLE_STATE(FLAPERON_AVAILABLE);
}
minServoIndex = servoMixers[currentMixerMode].minServoIndex;
maxServoIndex = servoMixers[currentMixerMode].maxServoIndex;