Move 3d_deadband_throttle to rcControlsConfig

src/main/fc/cli.c

@@ -630,7 +630,6 @@ static const clivalue_t valueTable[] = {
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_high) }, // FIXME lower limit should match code in the mixer, 1500 currently,
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, neutral3d) },
-    { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_throttle) },
 
 #ifdef USE_SERVOS
 // PG_SERVO_CONFIG
@@ -686,6 +685,7 @@ static const clivalue_t valueTable[] = {
     { "yaw_deadband",               VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0,  100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
     { "pos_hold_deadband",          VAR_UINT8  | MASTER_VALUE, .config.minmax = { 10,  250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, pos_hold_deadband) },
     { "alt_hold_deadband",          VAR_UINT8  | MASTER_VALUE, .config.minmax = { 10,  250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },
+    { "3d_deadband_throttle",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, PG_MOTOR_3D_CONFIG, offsetof(rcControlsConfig_t, deadband3d_throttle) },
 
 // PG_PID_PROFILE
 //    { "default_rate_profile",       VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0,  MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, PG_PID_CONFIG, offsetof(pidProfile_t, defaultRateProfileIndex) },

src/main/fc/fc_core.c

@@ -319,7 +319,7 @@ void processRx(timeUs_t currentTimeUs)
 
     failsafeUpdateState();
 
-    const throttleStatus_e throttleStatus = calculateThrottleStatus(flight3DConfig()->deadband3d_throttle);
+    const throttleStatus_e throttleStatus = calculateThrottleStatus();
 
     // When armed and motors aren't spinning, do beeps and then disarm
     // board after delay so users without buzzer won't lose fingers.

src/main/fc/fc_init.c

@@ -512,7 +512,7 @@ void init(void)
     cliInit(serialConfig());
 #endif
 
-    failsafeInit(flight3DConfig()->deadband3d_throttle);
+    failsafeInit();
 
     rxInit();
 

src/main/fc/fc_msp.c

@@ -1037,7 +1037,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, rcControlsConfig()->deadband);
         sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
         sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
-        sbufWriteU16(dst, flight3DConfig()->deadband3d_throttle);
+        sbufWriteU16(dst, rcControlsConfig()->deadband3d_throttle);
         break;
 
     case MSP_SENSOR_ALIGNMENT:
@@ -1515,7 +1515,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         rcControlsConfigMutable()->deadband = sbufReadU8(src);
         rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
         rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
-        flight3DConfigMutable()->deadband3d_throttle = sbufReadU16(src);
+        rcControlsConfigMutable()->deadband3d_throttle = sbufReadU16(src);
         break;
 
     case MSP_SET_RESET_CURR_PID:

src/main/fc/fc_tasks.c

@@ -112,7 +112,7 @@ void taskUpdateBattery(timeUs_t currentTimeUs)
 
         if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
             ibatLastServiced = currentTimeUs;
-            currentMeterUpdate(ibatTimeSinceLastServiced, flight3DConfig()->deadband3d_throttle);
+            currentMeterUpdate(ibatTimeSinceLastServiced);
         }
     }
 }

src/main/fc/rc_controls.c

@@ -78,7 +78,8 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
     .deadband = 5,
     .yaw_deadband = 5,
     .pos_hold_deadband = 20,
-    .alt_hold_deadband = 50
+    .alt_hold_deadband = 50,
+    .deadband3d_throttle = 50
 );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 0);
@@ -108,8 +109,9 @@ bool areSticksInApModePosition(uint16_t ap_mode)
     return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
 }
 
-throttleStatus_e calculateThrottleStatus(uint16_t deadband3d_throttle)
+throttleStatus_e calculateThrottleStatus(void)
 {
+    const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
     if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig()->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + deadband3d_throttle)))
         return THROTTLE_LOW;
     else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))

src/main/fc/rc_controls.h

@@ -143,6 +143,7 @@ typedef struct rcControlsConfig_s {
     uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
     uint8_t pos_hold_deadband;              // Adds ability to adjust the Hold-position when moving the sticks (assisted mode)
     uint8_t alt_hold_deadband;              // Defines the neutral zone of throttle stick during altitude hold
+    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 } rcControlsConfig_t;
 
 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
@@ -158,7 +159,7 @@ PG_DECLARE(armingConfig_t, armingConfig);
 bool areUsingSticksToArm(void);
 
 bool areSticksInApModePosition(uint16_t ap_mode);
-throttleStatus_e calculateThrottleStatus(uint16_t deadband3d_throttle);
+throttleStatus_e calculateThrottleStatus(void);
 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm);
 

src/main/flight/failsafe.c

@@ -60,8 +60,6 @@
 
 static failsafeState_t failsafeState;
 
-static uint16_t deadband3dThrottle;           // default throttle deadband from MIDRC
-
 PG_REGISTER_WITH_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
@@ -148,9 +146,8 @@ void failsafeReset(void)
     failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
 }
 
-void failsafeInit(uint16_t deadband3d_throttle)
+void failsafeInit(void)
 {
-    deadband3dThrottle = deadband3d_throttle;
     failsafeState.events = 0;
     failsafeState.monitoring = false;
 
@@ -332,7 +329,7 @@ void failsafeUpdateState(void)
             case FAILSAFE_IDLE:
                 if (armed) {
                     // Track throttle command below minimum time
-                    if (THROTTLE_HIGH == calculateThrottleStatus(deadband3dThrottle)) {
+                    if (THROTTLE_HIGH == calculateThrottleStatus()) {
                         failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                     }
                     // Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)

src/main/flight/failsafe.h

@@ -95,7 +95,7 @@ typedef struct failsafeState_s {
     int16_t lastGoodRcCommand[4];
 } failsafeState_t;
 
-void failsafeInit(uint16_t deadband3d_throttle);
+void failsafeInit(void);
 void failsafeReset(void);
 
 void failsafeStartMonitoring(void);

src/main/flight/mixer.c

@@ -68,8 +68,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CO
 PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
     .deadband3d_low = 1406,
     .deadband3d_high = 1514,
-    .neutral3d = 1460,
+    .neutral3d = 1460
-    .deadband3d_throttle = 50
 );
 
 
@@ -482,15 +481,15 @@ void mixTable(void)
     if (feature(FEATURE_3D)) {
         if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Out of band handling
+        if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
+        } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
             throttleMax = motorConfig()->maxthrottle;
             throttleMin = flight3DConfig()->deadband3d_high;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
+        } else if ((throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttleCommand = throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
         } else {  // Deadband handling from positive to negative
@@ -534,7 +533,7 @@ void mixTable(void)
             if (isFailsafeActive) {
                 motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
             } else if (feature(FEATURE_3D)) {
-                if (throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
+                if (throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle)) {
                     motor[i] = constrain(motor[i], motorConfig()->minthrottle, flight3DConfig()->deadband3d_low);
                 } else {
                     motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);

src/main/flight/mixer.h

@@ -98,7 +98,6 @@ typedef struct flight3DConfig_s {
     uint16_t deadband3d_low;                // min 3d value
     uint16_t deadband3d_high;               // max 3d value
     uint16_t neutral3d;                     // center 3d value
-    uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
 } flight3DConfig_t;
 
 PG_DECLARE(flight3DConfig_t, flight3DConfig);

src/main/navigation/navigation_multicopter.c

@@ -149,7 +149,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
 
 void setupMulticopterAltitudeController(void)
 {
-    const throttleStatus_e throttleStatus = calculateThrottleStatus(flight3DConfig()->deadband3d_throttle);
+    const throttleStatus_e throttleStatus = calculateThrottleStatus();
 
     if (navConfig()->general.flags.use_thr_mid_for_althold) {
         altHoldThrottleRCZero = rcLookupThrottleMid();

src/main/sensors/battery.c

@@ -185,7 +185,7 @@ int32_t currentSensorToCentiamps(uint16_t src)
     return (millivolts * 1000) / (int32_t)batteryConfig()->currentMeterScale; // current in 0.01A steps
 }
 
-void currentMeterUpdate(int32_t lastUpdateAt, uint16_t deadband3d_throttle)
+void currentMeterUpdate(int32_t lastUpdateAt)
 {
     static int32_t amperageRaw = 0;
     static int64_t mAhdrawnRaw = 0;
@@ -201,7 +201,7 @@ void currentMeterUpdate(int32_t lastUpdateAt, uint16_t deadband3d_throttle)
         case CURRENT_SENSOR_VIRTUAL:
             amperage = (int32_t)batteryConfig()->currentMeterOffset;
             if (ARMING_FLAG(ARMED)) {
-                throttleStatus_e throttleStatus = calculateThrottleStatus(deadband3d_throttle);
+                throttleStatus_e throttleStatus = calculateThrottleStatus();
                 if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
                     throttleOffset = 0;
                 throttleFactor = throttleOffset + (throttleOffset * throttleOffset / 50);

src/main/sensors/battery.h

@@ -74,7 +74,7 @@ batteryState_e getBatteryState(void);
 void batteryUpdate(uint32_t vbatTimeDelta);
 void batteryInit(void);
 
-void currentMeterUpdate(int32_t lastUpdateAt, uint16_t deadband3d_throttle);
+void currentMeterUpdate(int32_t lastUpdateAt);
 int32_t currentMeterToCentiamps(uint16_t src);
 
 uint8_t calculateBatteryPercentage(void);

src/main/telemetry/frsky.c

@@ -188,12 +188,12 @@ static void sendGpsAltitude(void)
 }
 #endif
 
-static void sendThrottleOrBatterySizeAsRpm(uint16_t deadband3d_throttle)
+static void sendThrottleOrBatterySizeAsRpm(void)
 {
     uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
     sendDataHead(ID_RPM);
     if (ARMING_FLAG(ARMED)) {
-        const throttleStatus_e throttleStatus = calculateThrottleStatus(deadband3d_throttle);
+        const throttleStatus_e throttleStatus = calculateThrottleStatus();
         if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
                     throttleForRPM = 0;
         serialize16(throttleForRPM);
@@ -519,7 +519,7 @@ void handleFrSkyTelemetry(void)
 
     if ((cycleNum % 8) == 0) {      // Sent every 1s
         sendTemperature1();
-        sendThrottleOrBatterySizeAsRpm(flight3DConfig()->deadband3d_throttle);
+        sendThrottleOrBatterySizeAsRpm();
 
         if (feature(FEATURE_VBAT)) {
             sendVoltage();