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Code Issues Wiki Activity

Renamed servoConfig to servoMixerConfig

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This commit is contained in:
Martin Budden 2016-10-04 14:40:41 +01:00
parent 03e10ff57a
commit c1add72e41
6 changed files with 20 additions and 20 deletions
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12
src/main/config/config.c
View file

@ -366,11 +366,11 @@ static void resetMixerConfig(mixerConfig_t *mixerConfig)
}
#ifdef USE_SERVOS
static void resetServoConfig(servoConfig_t *servoConfig)
static void resetServoConfig(servoMixerConfig_t *servoMixerConfig)
{
servoConfig->tri_unarmed_servo = 1;
servoConfig->servo_lowpass_freq = 400;
servoConfig->servo_lowpass_enable = 0;
servoMixerConfig->tri_unarmed_servo = 1;
servoMixerConfig->servo_lowpass_freq = 400;
servoMixerConfig->servo_lowpass_enable = 0;
}
#endif
@ -488,7 +488,7 @@ static void resetConf(void)
resetMixerConfig(&masterConfig.mixerConfig);
#ifdef USE_SERVOS
resetServoConfig(&masterConfig.servoConfig);
resetServoConfig(&masterConfig.servoMixerConfig);
resetServoPwmConfig(&masterConfig.servoPwmConfig);
#endif
@ -729,7 +729,7 @@ void activateConfig(void)
mixerUseConfigs(&masterConfig.flight3DConfig, &masterConfig.motorConfig, &masterConfig.mixerConfig, &masterConfig.rxConfig);
#ifdef USE_SERVOS
servosUseConfigs(&masterConfig.servoConfig, currentProfile->servoConf, &currentProfile->gimbalConfig, &masterConfig.rxConfig);
servosUseConfigs(&masterConfig.servoMixerConfig, currentProfile->servoConf, &currentProfile->gimbalConfig, &masterConfig.rxConfig);
#endif
imuRuntimeConfig.dcm_kp_acc = masterConfig.dcm_kp_acc / 10000.0f;

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

@ -79,7 +79,7 @@ typedef struct master_s {
// mixer-related configuration
mixerConfig_t mixerConfig;
servoConfig_t servoConfig;
servoMixerConfig_t servoMixerConfig;
#ifdef GPS
gpsConfig_t gpsConfig;

2
src/main/fc/mw.c
View file

@ -567,7 +567,7 @@ void taskMainPidLoop(void)
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoConfig.tri_unarmed_servo)
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
#endif
&& masterConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerMode != MIXER_FLYING_WING

12
src/main/flight/servos.c
View file

@ -66,7 +66,7 @@ extern mixerConfig_t *mixerConfig;
static rxConfig_t *rxConfig;
servoConfig_t *servoConfig;
servoMixerConfig_t *servoMixerConfig;
static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
@ -135,9 +135,9 @@ const mixerRules_t servoMixers[] = {
static servoMixer_t *customServoMixers;
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, rxConfig_t *rxConfigToUse)
void servosUseConfigs(servoMixerConfig_t *servoMixerConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, rxConfig_t *rxConfigToUse)
{
servoConfig = servoConfigToUse;
servoMixerConfig = servoMixerConfigToUse;
servoConf = servoParamsToUse;
gimbalConfig = gimbalConfigToUse;
rxConfig = rxConfigToUse;
@ -301,7 +301,7 @@ void writeServos(void)
/*
* in case of tricopters, there might me a need to zero servo output when unarmed
*/
if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoConfig->tri_unarmed_servo) {
if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoMixerConfig->tri_unarmed_servo) {
zeroServoValue = true;
}
@ -448,11 +448,11 @@ void filterServos(void)
{
int servoIdx;
if (servoConfig->servo_lowpass_enable) {
if (servoMixerConfig->servo_lowpass_enable) {
// Initialize servo lowpass filter (servos are calculated at looptime rate)
if (!servoFilterIsSet) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
biquadFilterInitLPF(&servoFitlerState[servoIdx], servoConfig->servo_lowpass_freq, gyro.targetLooptime);
biquadFilterInitLPF(&servoFitlerState[servoIdx], servoMixerConfig->servo_lowpass_freq, gyro.targetLooptime);
}
servoFilterIsSet = true;

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

@ -77,11 +77,11 @@ typedef enum {
#define FLAPERON_THROW_MIN 100
#define FLAPERON_THROW_MAX 400
typedef struct servoConfig_s {
typedef struct servoMixerConfig_s {
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
int16_t servo_lowpass_freq; // lowpass servo filter frequency selection; 1/1000ths of loop freq
int8_t servo_lowpass_enable; // enable/disable lowpass filter
} servoConfig_t;
} servoMixerConfig_t;
typedef struct servoMixer_s {
uint8_t targetChannel; // servo that receives the output of the rule
@ -127,6 +127,6 @@ void filterServos(void);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void);
int servoDirection(int servoIndex, int fromChannel);
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, struct rxConfig_s *rxConfigToUse);
void servosUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, struct rxConfig_s *rxConfigToUse);
void servosInit(servoMixer_t *customServoMixers);

6
src/main/io/serial_cli.c
View file

@ -756,9 +756,9 @@ const clivalue_t valueTable[] = {
#ifdef USE_SERVOS
{ "flaperon_throw_offset", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].flaperon_throw_offset, .config.minmax = { FLAPERON_THROW_MIN, FLAPERON_THROW_MAX}, 0 },
{ "flaperon_throw_inverted", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].flaperon_throw_inverted, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.servoConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.servoMixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoMixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoPwmRate, .config.minmax = { 50, 498 }, 0 },