USE_SERVO assumed always true (since it is) and removed

src/main/blackbox/blackbox.c

@@ -1176,10 +1176,8 @@ static void loadMainState(timeUs_t currentTimeUs)
 
     blackboxCurrent->rssi = getRSSI();
 
-#ifdef USE_SERVOS
     //Tail servo for tricopters
     blackboxCurrent->servo[5] = servo[5];
-#endif
 
 #ifdef NAV_BLACKBOX
     blackboxCurrent->navState = navCurrentState;

src/main/config/config_master.h

@@ -28,10 +28,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-
-#ifdef USE_SERVOS
 #include "flight/servos.h"
-#endif
 
 #include "io/osd.h"
 #include "io/ledstrip.h"

src/main/drivers/pwm_mapping.c

@@ -179,7 +179,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
         // Handle outputs - may override the PWM/PPM inputs
         if (init->flyingPlatformType == PLATFORM_MULTIROTOR) {
             // Multicopter
-#ifdef USE_SERVOS
             if (init->useServoOutputs && (timerHardwarePtr->usageFlags & TIM_USE_MC_SERVO)) {
                 type = MAP_TO_SERVO_OUTPUT;
             }
@@ -187,13 +186,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_SERVO_OUTPUT;
             }
             else
-#endif
             if (timerHardwarePtr->usageFlags & TIM_USE_MC_MOTOR) {
                 type = MAP_TO_MOTOR_OUTPUT;
             }
-        }
+        } else if (init->flyingPlatformType == PLATFORM_AIRPLANE || init->flyingPlatformType == PLATFORM_HELICOPTER) {
-#ifdef USE_SERVOS
-        else if (init->flyingPlatformType == PLATFORM_AIRPLANE || init->flyingPlatformType == PLATFORM_HELICOPTER) {
             // Fixed wing or HELI (one/two motors and a lot of servos
             if (timerHardwarePtr->usageFlags & TIM_USE_FW_SERVO) {
                 type = MAP_TO_SERVO_OUTPUT;
@@ -202,37 +198,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_MOTOR_OUTPUT;
             }
         }
-#endif
 
         // If timer not mapped - skip
         if (type == MAP_TO_NONE)
             continue;
-/*
-#ifdef USE_SERVOS
-        if (init->useServos && !init->airplane) {
-#if defined(SPRACINGF3MINI)
-            // remap PWM6+7 as servos
-            if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
-                type = MAP_TO_SERVO_OUTPUT;
-#endif
-
-#if defined(SINGULARITY)
-            // remap PWM6+7 as servos
-            if (timerIndex == PWM6 || timerIndex == PWM7)
-                type = MAP_TO_SERVO_OUTPUT;
-#endif
-        }
-
-#if defined(SPRACINGF3MINI)
-            if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
-                || ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
-                type = MAP_TO_SERVO_OUTPUT;
-            }
-#endif
-        }
-
-#endif // USE_SERVOS
-*/
 
         if (type == MAP_TO_PPM_INPUT) {
 #if defined(USE_RX_PPM)
@@ -284,7 +253,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 continue;
             }
 
-#ifdef USE_SERVOS
             if (pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput)) {
                 pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
                 pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
@@ -298,7 +266,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, timerIndex, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
                 continue;
             }
-#endif
         } else {
             continue;
         }

src/main/drivers/pwm_mapping.h

@@ -68,12 +68,10 @@ typedef struct drv_pwm_config_s {
 #ifdef USE_RANGEFINDER
     bool useTriggerRangefinder;
 #endif
-#ifdef USE_SERVOS
     bool useServoOutputs;
     bool useChannelForwarding;      // configure additional channels as servos
     uint16_t servoPwmRate;
     uint16_t servoCenterPulse;
-#endif
     uint8_t pwmProtocolType;
     uint16_t motorPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),

src/main/drivers/pwm_output.c

@@ -50,10 +50,7 @@ typedef struct {
 static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
 
 static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
-
-#ifdef USE_SERVOS
 static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
-#endif
 
 #ifdef BEEPER_PWM
 static pwmOutputPort_t  beeperPwmPort;
@@ -290,7 +287,6 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui
     return false;
 }
 
-#ifdef USE_SERVOS
 bool pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput)
 {
     pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse, enableOutput);
@@ -323,7 +319,6 @@ void pwmWriteServo(uint8_t index, uint16_t value)
     }
 #endif
 }
-#endif
 
 #ifdef BEEPER_PWM
 void pwmWriteBeeper(bool onoffBeep)

src/main/fc/cli.c

@@ -1267,7 +1267,6 @@ static void cliModeColor(char *cmdline)
 }
 #endif
 
-#ifdef USE_SERVOS
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
 {
     // print out servo settings
@@ -1530,7 +1529,6 @@ static void cliServoMix(char *cmdline)
         }
     }
 }
-#endif // USE_SERVOS
 
 #ifdef USE_SDCARD
 
@@ -2575,7 +2573,6 @@ static void printConfig(const char *cmdline, bool doDiff)
 
         printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
 
-#ifdef USE_SERVOS
         // print custom servo mixer if exists
         cliPrintHashLine("servo mix");
         cliDumpPrintLinef(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n");
@@ -2584,7 +2581,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         // print servo parameters
         cliPrintHashLine("servo");
         printServo(dumpMask, servoParams_CopyArray, servoParams(0));
-#endif
 
         cliPrintHashLine("feature");
         printFeature(dumpMask, &featureConfig_Copy, featureConfig());
@@ -2755,17 +2751,13 @@ const clicmd_t cmdTable[] = {
 #ifdef USE_SERIAL_PASSTHROUGH
     CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
 #endif
-#ifdef USE_SERVOS
     CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
-#endif
     CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
-#ifdef USE_SERVOS
     CLI_COMMAND_DEF("smix", "servo mixer",
         "<rule> <servo> <source> <rate> <speed>\r\n"
         "\treset\r\n"
         "\tload <mixer>\r\n"
         "\treverse <servo> <source> r|n", cliServoMix),
-#endif
 #ifdef USE_SDCARD
     CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
 #endif

src/main/fc/fc_core.c

@@ -524,7 +524,6 @@ void processRx(timeUs_t currentTimeUs)
         LED1_OFF;
     }
 
-#ifdef USE_SERVOS
     /* Flaperon mode */
     if (IS_RC_MODE_ACTIVE(BOXFLAPERON) && STATE(FLAPERON_AVAILABLE)) {
         if (!FLIGHT_MODE(FLAPERON)) {
@@ -533,7 +532,6 @@ void processRx(timeUs_t currentTimeUs)
     } else {
         DISABLE_FLIGHT_MODE(FLAPERON);
     }
-#endif
 
 #ifdef USE_FLM_TURN_ASSIST
     /* Turn assistant mode */
@@ -756,9 +754,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // motors do not spin up while we are trying to arm or disarm.
     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
-#ifdef USE_SERVOS
             && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
-#endif
             && mixerConfig()->mixerMode != MIXER_AIRPLANE
             && mixerConfig()->mixerMode != MIXER_FLYING_WING
             && mixerConfig()->mixerMode != MIXER_CUSTOM_AIRPLANE
@@ -803,7 +799,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
     mixTable();
 
-#ifdef USE_SERVOS
     if (isMixerUsingServos()) {
         servoMixer(dT);
         processServoAutotrim();
@@ -818,7 +813,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     if (isServoOutputEnabled()) {
         writeServos();
     }
-#endif
 
     if (motorControlEnable) {
         writeMotors();

src/main/fc/fc_init.c

@@ -269,10 +269,8 @@ void init(void)
     debugTraceInit();
 #endif
 
-#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;
     memset(&pwm_params, 0, sizeof(pwm_params));
@@ -314,12 +312,10 @@ void init(void)
     pwm_params.usePPM = (rxConfig()->receiverType == RX_TYPE_PPM);
     pwm_params.useSerialRx = (rxConfig()->receiverType == RX_TYPE_SERIAL);
 
-#ifdef USE_SERVOS
     pwm_params.useServoOutputs = isMixerUsingServos();
     pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
     pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse;
     pwm_params.servoPwmRate = servoConfig()->servoPwmRate;
-#endif
 
     pwm_params.pwmProtocolType = motorConfig()->motorPwmProtocol;
 #ifndef BRUSHED_MOTORS

src/main/fc/fc_msp.c

@@ -439,7 +439,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 
-#ifdef USE_SERVOS
     case MSP_SERVO:
         sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
         break;
@@ -466,8 +465,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, 0);
         }
         break;
-#endif
-
     case MSP2_COMMON_MOTOR_MIXER:
         for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             sbufWriteU16(dst, customMotorMixer(i)->throttle * 1000);
@@ -1009,11 +1006,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, 1);    // BF: motorConfig()->useUnsyncedPwm
         sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
         sbufWriteU16(dst, motorConfig()->motorPwmRate);
-#ifdef USE_SERVOS
         sbufWriteU16(dst, servoConfig()->servoPwmRate);
-#else
-        sbufWriteU16(dst, 0);
-#endif
         sbufWriteU8(dst, gyroConfig()->gyroSync);
         break;
 
@@ -1651,7 +1644,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifdef USE_SERVOS
     case MSP_SET_SERVO_CONFIGURATION:
         if (dataSize != (1 + 14)) {
             return MSP_RESULT_ERROR;
@@ -1671,9 +1663,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             servoComputeScalingFactors(tmp_u8);
         }
         break;
-#endif
 
-#ifdef USE_SERVOS
     case MSP_SET_SERVO_MIX_RULE:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize >= 8) && (tmp_u8 < MAX_SERVO_RULES)) {
@@ -1687,7 +1677,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP2_COMMON_SET_MOTOR_MIXER:
         sbufReadU8Safe(&tmp_u8, src);
@@ -1743,11 +1732,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             sbufReadU8(src);    // BF: motorConfig()->useUnsyncedPwm
             motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);
             motorConfigMutable()->motorPwmRate = sbufReadU16(src);
-#ifdef USE_SERVOS
             servoConfigMutable()->servoPwmRate = sbufReadU16(src);
-#else
-            sbufReadU16(src);
-#endif
             gyroConfigMutable()->gyroSync = sbufReadU8(src);
         } else
             return MSP_RESULT_ERROR;

src/main/fc/fc_msp_box.c

@@ -199,7 +199,6 @@ void initActiveBoxIds(void)
 #endif
     }
 
-#ifdef USE_SERVOS
     /*
      * FLAPERON mode active only in case of airplane and custom airplane. Activating on
      * flying wing can cause bad thing
@@ -207,7 +206,6 @@ void initActiveBoxIds(void)
     if (STATE(FLAPERON_AVAILABLE)) {
         activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
     }
-#endif
 
     activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
 

src/main/fc/settings.yaml

@@ -487,7 +487,6 @@ groups:
   - name: PG_GIMBAL_CONFIG
     type: gimbalConfig_t
     headers: ["io/gimbal.h"]
-    condition: USE_SERVOS
     members:
       - name: gimbal_mode
         field: mode
@@ -582,7 +581,6 @@ groups:
   - name: PG_SERVO_CONFIG
     type: servoConfig_t
     headers: ["flight/servos.h"]
-    condition: USE_SERVOS
     members:
       - name: servo_center_pulse
         field: servoCenterPulse
@@ -880,17 +878,14 @@ groups:
         max: 2
       - name: fw_iterm_throw_limit
         field: fixedWingItermThrowLimit
-        condition: USE_SERVOS
         min: FW_ITERM_THROW_LIMIT_MIN
         max: FW_ITERM_THROW_LIMIT_MAX
       - name: fw_reference_airspeed
         field: fixedWingReferenceAirspeed
-        condition: USE_SERVOS
         min: 1
         max: 5000
       - name: fw_turn_assist_yaw_gain
         field: fixedWingCoordinatedYawGain
-        condition: USE_SERVOS
         min: 0
         max: 2
       - name: dterm_notch_hz

src/main/flight/mixer.c

@@ -302,7 +302,6 @@ bool isMixerEnabled(mixerMode_e mixerMode)
     return (mixer != NULL) ? true : false;
 }
 
-#ifdef USE_SERVOS
 void mixerUpdateStateFlags(void)
 {
     // set flag that we're on something with wings
@@ -363,16 +362,6 @@ void mixerUsePWMIOConfiguration(void)
 
     mixerResetDisarmedMotors();
 }
-#else
-void mixerUsePWMIOConfiguration(void)
-{
-    motorCount = 4;
-    for (int i = 0; i < motorCount; i++) {
-        currentMixer[i] = mixerQuadX[i];
-    }
-    mixerResetDisarmedMotors();
-}
-#endif
 
 void mixerLoadMix(int index, motorMixer_t *customMixers)
 {

src/main/flight/pid.c

@@ -443,7 +443,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
     }
 }
 
-#ifdef USE_SERVOS
 static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis)
 {
     const float rateError = pidState->rateTarget - pidState->gyroRate;
@@ -485,7 +484,6 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
     axisPID_Setpoint[axis] = pidState->rateTarget;
 #endif
 }
-#endif
 
 static void pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis)
 {
@@ -761,15 +759,11 @@ void pidController(void)
     // Step 4: Run gyro-driven control
     for (int axis = 0; axis < 3; axis++) {
         // Apply PID setpoint controller
-#ifdef USE_SERVOS
         if (STATE(FIXED_WING)) {
             pidApplyFixedWingRateController(&pidState[axis], axis);
         }
         else {
             pidApplyMulticopterRateController(&pidState[axis], axis);
         }
-#else
-        pidApplyMulticopterRateController(&pidState[axis], axis);
-#endif
     }
 }

src/main/flight/servos.c

@@ -22,8 +22,6 @@
 
 #include "platform.h"
 
-#ifdef USE_SERVOS
-
 #include "build/debug.h"
 #include "build/build_config.h"
 
@@ -568,5 +566,4 @@ bool isServoOutputEnabled(void)
 bool isMixerUsingServos(void)
 {
     return mixerUsesServos;
-}
+}
-#endif

src/main/target/KFC32F3_INAV/target.h

@@ -136,7 +136,6 @@
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    10
 #define TARGET_MOTOR_COUNT      10
-#define USE_SERVOS
 
 // IO - stm32f303cc in 48pin package
 #define TARGET_IO_PORTA         0xffff

src/main/target/PIKOBLX/target.h

@@ -67,7 +67,6 @@
 #define USE_TELEMETRY
 #define USE_BLACKBOX
 #define USE_SERIAL_RX
-#define USE_SERVOS
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_ADC

src/main/target/common.h

@@ -21,7 +21,6 @@
 #define I2C2_OVERCLOCK false
 #define USE_I2C_PULLUP          // Enable built-in pullups on all boards in case external ones are too week
 
-#define USE_SERVOS
 #define USE_CLI
 
 #define USE_RX_PWM

src/test/unit/target.h

@@ -34,7 +34,6 @@
 #define USE_TELEMETRY_SMARTPORT
 #define USE_TELEMETRY_LTM
 #define USE_LED_STRIP
-#define USE_SERVOS
 #define TRANSPONDER
 #define USE_FAKE_GYRO
 #define USE_VCP