Rename settings previously responsible for reversible motors handling

src/main/config/parameter_group_ids.h

@@ -42,7 +42,7 @@
 //#define PG_PROFILE_SELECTION 23
 #define PG_RX_CONFIG 24
 #define PG_RC_CONTROLS_CONFIG 25
-#define PG_MOTOR_3D_CONFIG 26
+#define PG_REVERSIBLE_MOTORS_CONFIG 26
 #define PG_LED_STRIP_CONFIG 27
 //#define PG_COLOR_CONFIG 28
 //#define PG_AIRPLANE_ALT_HOLD_CONFIG 29

src/main/fc/fc_msp.c

@@ -1110,16 +1110,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_3D:
-        sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
+        sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
-        sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
+        sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
-        sbufWriteU16(dst, flight3DConfig()->neutral3d);
+        sbufWriteU16(dst, reversibleMotorsConfig()->neutral);
         break;
 
     case MSP_RC_DEADBAND:
         sbufWriteU8(dst, rcControlsConfig()->deadband);
         sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
         sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
-        sbufWriteU16(dst, rcControlsConfig()->deadband3d_throttle);
+        sbufWriteU16(dst, rcControlsConfig()->mid_throttle_deadband);
         break;
 
     case MSP_SENSOR_ALIGNMENT:
@@ -1982,9 +1982,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_3D:
         if (dataSize >= 6) {
-            flight3DConfigMutable()->deadband3d_low = sbufReadU16(src);
+            reversibleMotorsConfigMutable()->deadband_low = sbufReadU16(src);
-            flight3DConfigMutable()->deadband3d_high = sbufReadU16(src);
+            reversibleMotorsConfigMutable()->deadband_high = sbufReadU16(src);
-            flight3DConfigMutable()->neutral3d = sbufReadU16(src);
+            reversibleMotorsConfigMutable()->neutral = sbufReadU16(src);
         } else
             return MSP_RESULT_ERROR;
         break;
@@ -1994,7 +1994,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             rcControlsConfigMutable()->deadband = sbufReadU8(src);
             rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
             rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
-            rcControlsConfigMutable()->deadband3d_throttle = sbufReadU16(src);
+            rcControlsConfigMutable()->mid_throttle_deadband = sbufReadU16(src);
         } else
             return MSP_RESULT_ERROR;
         break;

src/main/fc/rc_controls.c

@@ -76,7 +76,7 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
     .yaw_deadband = 5,
     .pos_hold_deadband = 20,
     .alt_hold_deadband = 50,
-    .deadband3d_throttle = 50,
+    .mid_throttle_deadband = 50,
     .airmodeHandlingType = STICK_CENTER,
     .airmodeThrottleThreshold = AIRMODE_THROTTLE_THRESHOLD,
 );
@@ -101,8 +101,8 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
 
 throttleStatus_e calculateThrottleStatus(void)
 {
-    const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
+    const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
-    if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
+    if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + mid_throttle_deadband)))
         return THROTTLE_LOW;
     else if (!feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
         return THROTTLE_LOW;

src/main/fc/rc_controls.h

@@ -80,7 +80,7 @@ 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
+    uint16_t mid_throttle_deadband;           // default throttle deadband from MIDRC
     uint8_t airmodeHandlingType;            // Defaults to ANTI_WINDUP triggered at sticks centered
     uint16_t airmodeThrottleThreshold;      // Throttle threshold for airmode initial activation
 } rcControlsConfig_t;

src/main/fc/settings.yaml

@@ -704,19 +704,19 @@ groups:
         min: 0
         max: 450
 
-  - name: PG_MOTOR_3D_CONFIG
+  - name: PG_REVERSIBLE_MOTORS_CONFIG
-    type: flight3DConfig_t
+    type: reversibleMotorsConfig_t
     members:
       - name: 3d_deadband_low
-        field: deadband3d_low
+        field: deadband_low
         min: PWM_RANGE_MIN
         max: PWM_RANGE_MAX
       - name: 3d_deadband_high
-        field: deadband3d_high
+        field: deadband_high
         min: PWM_RANGE_MIN
         max: PWM_RANGE_MAX
       - name: 3d_neutral
-        field: neutral3d
+        field: neutral
         min: PWM_RANGE_MIN
         max: PWM_RANGE_MAX
 
@@ -940,7 +940,7 @@ groups:
         min: 10
         max: 250
       - name: 3d_deadband_throttle
-        field: deadband3d_throttle
+        field: mid_throttle_deadband
         min: 0
         max: 200
       - name: mc_airmode_type

src/main/flight/mixer.c

@@ -63,12 +63,12 @@ static EXTENDED_FASTRAM uint8_t motorCount = 0;
 EXTENDED_FASTRAM int mixerThrottleCommand;
 static EXTENDED_FASTRAM int throttleIdleValue = 0; 
 
-PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig, PG_REVERSIBLE_MOTORS_CONFIG, 0);
 
-PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
+PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
-    .deadband3d_low = 1406,
+    .deadband_low = 1406,
-    .deadband3d_high = 1514,
+    .deadband_high = 1514,
-    .neutral3d = 1460
+    .neutral = 1460
 );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 2);
@@ -250,7 +250,7 @@ void mixerResetDisarmedMotors(void)
 {
     // set disarmed motor values
     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        motor_disarmed[i] = feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
+        motor_disarmed[i] = feature(FEATURE_REVERSIBLE_MOTORS) ? reversibleMotorsConfig()->neutral : motorConfig()->mincommand;
     }
 }
 
@@ -264,12 +264,12 @@ void FAST_CODE NOINLINE writeMotors(void)
         if (isMotorProtocolDigital()) {
 
             if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-                if (motor[i] >= throttleIdleValue && motor[i] <= flight3DConfig()->deadband3d_low) {
+                if (motor[i] >= throttleIdleValue && motor[i] <= reversibleMotorsConfig()->deadband_low) {
-                    motorValue = scaleRangef(motor[i], motorConfig()->mincommand, flight3DConfig()->deadband3d_low, DSHOT_3D_DEADBAND_LOW, DSHOT_MIN_THROTTLE);
+                    motorValue = scaleRangef(motor[i], motorConfig()->mincommand, reversibleMotorsConfig()->deadband_low, DSHOT_3D_DEADBAND_LOW, DSHOT_MIN_THROTTLE);
                     motorValue = constrain(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_DEADBAND_LOW);
                 }
-                else if (motor[i] >= flight3DConfig()->deadband3d_high && motor[i] <= motorConfig()->maxthrottle) {
+                else if (motor[i] >= reversibleMotorsConfig()->deadband_high && motor[i] <= motorConfig()->maxthrottle) {
-                    motorValue = scaleRangef(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
+                    motorValue = scaleRangef(motor[i], reversibleMotorsConfig()->deadband_high, motorConfig()->maxthrottle, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
                     motorValue = constrain(motorValue, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
                 }
                 else {
@@ -309,7 +309,7 @@ void writeAllMotors(int16_t mc)
 
 void stopMotors(void)
 {
-    writeAllMotors(feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand);
+    writeAllMotors(feature(FEATURE_REVERSIBLE_MOTORS) ? reversibleMotorsConfig()->neutral : motorConfig()->mincommand);
 
     delay(50); // give the timers and ESCs a chance to react.
 }
@@ -367,20 +367,20 @@ void FAST_CODE NOINLINE mixTable(const float dT)
     if (feature(FEATURE_REVERSIBLE_MOTORS)) {
         if (!ARMING_FLAG(ARMED)) throttlePrevious = PWM_RANGE_MIDDLE; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
+        if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband))) { // Out of band handling
-            throttleMax = flight3DConfig()->deadband3d_low;
+            throttleMax = reversibleMotorsConfig()->deadband_low;
             throttleMin = throttleIdleValue;
             throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
-        } else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
+        } else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->mid_throttle_deadband)) { // Positive handling
             throttleMax = motorConfig()->maxthrottle;
-            throttleMin = flight3DConfig()->deadband3d_high;
+            throttleMin = reversibleMotorsConfig()->deadband_high;
             throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
-        } else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
+        } else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband)))  { // Deadband handling from negative to positive
-            mixerThrottleCommand = throttleMax = flight3DConfig()->deadband3d_low;
+            mixerThrottleCommand = throttleMax = reversibleMotorsConfig()->deadband_low;
             throttleMin = throttleIdleValue;
         } else {  // Deadband handling from positive to negative
             throttleMax = motorConfig()->maxthrottle;
-            mixerThrottleCommand = throttleMin = flight3DConfig()->deadband3d_high;
+            mixerThrottleCommand = throttleMin = reversibleMotorsConfig()->deadband_high;
         }
     } else {
         mixerThrottleCommand = rcCommand[THROTTLE];
@@ -425,10 +425,10 @@ void FAST_CODE NOINLINE mixTable(const float dT)
             if (failsafeIsActive()) {
                 motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
             } else if (feature(FEATURE_REVERSIBLE_MOTORS)) {
-                if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)) {
+                if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband)) {
-                    motor[i] = constrain(motor[i], throttleIdleValue, flight3DConfig()->deadband3d_low);
+                    motor[i] = constrain(motor[i], throttleIdleValue, reversibleMotorsConfig()->deadband_low);
                 } else {
-                    motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);
+                    motor[i] = constrain(motor[i], reversibleMotorsConfig()->deadband_high, motorConfig()->maxthrottle);
                 }
             } else {
                 motor[i] = constrain(motor[i], throttleIdleValue, motorConfig()->maxthrottle);

src/main/flight/mixer.h

@@ -72,13 +72,13 @@ typedef struct mixerConfig_s {
 
 PG_DECLARE(mixerConfig_t, mixerConfig);
 
-typedef struct flight3DConfig_s {
+typedef struct reversibleMotorsConfig_s {
-    uint16_t deadband3d_low;                // min 3d value
+    uint16_t deadband_low;                // min 3d value
-    uint16_t deadband3d_high;               // max 3d value
+    uint16_t deadband_high;               // max 3d value
-    uint16_t neutral3d;                     // center 3d value
+    uint16_t neutral;                     // center 3d value
-} flight3DConfig_t;
+} reversibleMotorsConfig_t;
 
-PG_DECLARE(flight3DConfig_t, flight3DConfig);
+PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
 
 typedef struct motorConfig_s {
     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)

src/test/unit/battery_unittest.cc.txt

@@ -281,10 +281,10 @@ bool feature(uint32_t mask)
     return false;
 }
 
-throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t mid_throttle_deadband)
 {
     UNUSED(*rxConfig);
-    UNUSED(deadband3d_throttle);
+    UNUSED(mid_throttle_deadband);
     return THROTTLE_HIGH;
 }
 

src/test/unit/flight_failsafe_unittest.cc.txt

@@ -420,10 +420,10 @@ uint32_t millis(void)
     return sysTickUptime;
 }
 
-throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t mid_throttle_deadband)
 {
     UNUSED(rxConfig);
-    UNUSED(deadband3d_throttle);
+    UNUSED(mid_throttle_deadband);
     return throttleStatus;
 }