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Code Issues Wiki Activity

add mixer profile switching by logic

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This commit is contained in:
shota 2022-11-06 16:40:16 +09:00
parent 0b247d9bfc
commit fcf9ca14de
4 changed files with 35 additions and 3 deletions
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2
src/main/fc/cli.c
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@ -3057,7 +3057,7 @@ static void cliMixerProfile(char *cmdline)
return;
} else {
const int i = fastA2I(cmdline) - 1;
if (i >= 0 && i < MAX_PROFILE_COUNT) {
if (i >= 0 && i < MAX_MIXER_PROFILE_COUNT) {
setConfigMixerProfileAndWriteEEPROM(i);
cliMixerProfile("");
}

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

@ -240,7 +240,7 @@ static uint16_t getValueOffset(const setting_t *value)
case BATTERY_CONFIG_VALUE:
return value->offset + sizeof(batteryProfile_t) * getConfigBatteryProfile();
case MIXER_CONFIG_VALUE:
return value->offset + sizeof(batteryProfile_t) * getConfigBatteryProfile();
return value->offset + sizeof(mixerProfile_t) * getConfigMixerProfile();
}
return 0;
}

30
src/main/programming/logic_condition.c
View file

@ -50,6 +50,10 @@
#include "io/osd_common.h"
#include "sensors/diagnostics.h"
#include "flight/mixer.h"
#include "flight/servos.h"
#include "drivers/pwm_mapping.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
@ -361,6 +365,28 @@ static int logicConditionCompute(
}
break;
case LOGIC_CONDITION_SET_MIXER_PROFILE:
operandA--;
if ( getConfigMixerProfile() != operandA && (operandA >= 0 && operandA < MAX_MIXER_PROFILE_COUNT)) {
bool mixerprofileChanged = false;
if (setConfigMixerProfile(operandA)) {
stopMotors();
stopPwmAllMotors();
servosInit();
mixerUpdateStateFlags();
mixerInit();
pwmMotorAndServoInit();
if (!STATE(ALTITUDE_CONTROL)) {
featureClear(FEATURE_AIRMODE);
}
mixerprofileChanged = true;
}
return mixerprofileChanged;
} else {
return false;
}
break;
case LOGIC_CONDITION_LOITER_OVERRIDE:
logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE] = constrain(operandA, 0, 100000);
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
@ -610,6 +636,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
return getConfigProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int
return getConfigMixerProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
return getLoiterRadius(navConfig()->fw.loiter_radius);

4
src/main/programming/logic_condition.h
View file

@ -76,7 +76,8 @@ typedef enum {
LOGIC_CONDITION_MAX = 44,
LOGIC_CONDITION_FLIGHT_AXIS_ANGLE_OVERRIDE = 45,
LOGIC_CONDITION_FLIGHT_AXIS_RATE_OVERRIDE = 46,
LOGIC_CONDITION_LAST = 47,
LOGIC_CONDITION_SET_MIXER_PROFILE = 47,
LOGIC_CONDITION_LAST = 48,
} logicOperation_e;
typedef enum logicOperandType_s {
@ -132,6 +133,7 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_AGL_STATUS, //0,1,2 // 38
LOGIC_CONDITION_OPERAND_FLIGHT_AGL, //0,1,2 // 39
LOGIC_CONDITION_OPERAND_FLIGHT_RANGEFINDER_RAW, //int // 40
LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE, //int // 41
} logicFlightOperands_e;
typedef enum {