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https://github.com/iNavFlight/inav.git
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Renamed servoConfig to servoMixerConfig
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parent
03e10ff57a
commit
c1add72e41
6 changed files with 20 additions and 20 deletions
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@ -366,11 +366,11 @@ static void resetMixerConfig(mixerConfig_t *mixerConfig)
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}
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#ifdef USE_SERVOS
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static void resetServoConfig(servoConfig_t *servoConfig)
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static void resetServoConfig(servoMixerConfig_t *servoMixerConfig)
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{
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servoConfig->tri_unarmed_servo = 1;
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servoConfig->servo_lowpass_freq = 400;
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servoConfig->servo_lowpass_enable = 0;
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servoMixerConfig->tri_unarmed_servo = 1;
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servoMixerConfig->servo_lowpass_freq = 400;
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servoMixerConfig->servo_lowpass_enable = 0;
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}
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#endif
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@ -488,7 +488,7 @@ static void resetConf(void)
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resetMixerConfig(&masterConfig.mixerConfig);
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#ifdef USE_SERVOS
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resetServoConfig(&masterConfig.servoConfig);
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resetServoConfig(&masterConfig.servoMixerConfig);
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resetServoPwmConfig(&masterConfig.servoPwmConfig);
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#endif
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@ -729,7 +729,7 @@ void activateConfig(void)
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mixerUseConfigs(&masterConfig.flight3DConfig, &masterConfig.motorConfig, &masterConfig.mixerConfig, &masterConfig.rxConfig);
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#ifdef USE_SERVOS
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servosUseConfigs(&masterConfig.servoConfig, currentProfile->servoConf, ¤tProfile->gimbalConfig, &masterConfig.rxConfig);
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servosUseConfigs(&masterConfig.servoMixerConfig, currentProfile->servoConf, ¤tProfile->gimbalConfig, &masterConfig.rxConfig);
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#endif
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imuRuntimeConfig.dcm_kp_acc = masterConfig.dcm_kp_acc / 10000.0f;
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@ -79,7 +79,7 @@ typedef struct master_s {
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// mixer-related configuration
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mixerConfig_t mixerConfig;
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servoConfig_t servoConfig;
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servoMixerConfig_t servoMixerConfig;
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#ifdef GPS
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gpsConfig_t gpsConfig;
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@ -567,7 +567,7 @@ void taskMainPidLoop(void)
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if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
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#ifndef USE_QUAD_MIXER_ONLY
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#ifdef USE_SERVOS
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&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoConfig.tri_unarmed_servo)
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&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
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#endif
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&& masterConfig.mixerMode != MIXER_AIRPLANE
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&& masterConfig.mixerMode != MIXER_FLYING_WING
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@ -66,7 +66,7 @@ extern mixerConfig_t *mixerConfig;
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static rxConfig_t *rxConfig;
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servoConfig_t *servoConfig;
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servoMixerConfig_t *servoMixerConfig;
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static uint8_t servoRuleCount = 0;
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static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
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@ -135,9 +135,9 @@ const mixerRules_t servoMixers[] = {
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static servoMixer_t *customServoMixers;
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void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, rxConfig_t *rxConfigToUse)
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void servosUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, rxConfig_t *rxConfigToUse)
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{
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servoConfig = servoConfigToUse;
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servoMixerConfig = servoMixerConfigToUse;
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servoConf = servoParamsToUse;
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gimbalConfig = gimbalConfigToUse;
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rxConfig = rxConfigToUse;
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@ -301,7 +301,7 @@ void writeServos(void)
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/*
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* in case of tricopters, there might me a need to zero servo output when unarmed
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*/
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if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoConfig->tri_unarmed_servo) {
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if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoMixerConfig->tri_unarmed_servo) {
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zeroServoValue = true;
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}
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@ -448,11 +448,11 @@ void filterServos(void)
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{
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int servoIdx;
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if (servoConfig->servo_lowpass_enable) {
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if (servoMixerConfig->servo_lowpass_enable) {
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// Initialize servo lowpass filter (servos are calculated at looptime rate)
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if (!servoFilterIsSet) {
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for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
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biquadFilterInitLPF(&servoFitlerState[servoIdx], servoConfig->servo_lowpass_freq, gyro.targetLooptime);
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biquadFilterInitLPF(&servoFitlerState[servoIdx], servoMixerConfig->servo_lowpass_freq, gyro.targetLooptime);
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}
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servoFilterIsSet = true;
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@ -77,11 +77,11 @@ typedef enum {
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#define FLAPERON_THROW_MIN 100
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#define FLAPERON_THROW_MAX 400
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typedef struct servoConfig_s {
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typedef struct servoMixerConfig_s {
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uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
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int16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
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int8_t servo_lowpass_enable; // enable/disable lowpass filter
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} servoConfig_t;
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} servoMixerConfig_t;
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typedef struct servoMixer_s {
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uint8_t targetChannel; // servo that receives the output of the rule
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@ -127,6 +127,6 @@ void filterServos(void);
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void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
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void loadCustomServoMixer(void);
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int servoDirection(int servoIndex, int fromChannel);
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void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, struct rxConfig_s *rxConfigToUse);
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void servosUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, struct rxConfig_s *rxConfigToUse);
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void servosInit(servoMixer_t *customServoMixers);
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@ -756,9 +756,9 @@ const clivalue_t valueTable[] = {
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#ifdef USE_SERVOS
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{ "flaperon_throw_offset", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX}, 0 },
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{ "flaperon_throw_inverted", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].flaperon_throw_inverted, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.servoConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
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{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.servoMixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
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{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
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{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
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{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
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{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoPwmRate, .config.minmax = { 50, 498 }, 0 },
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