refactoring

src/main/fc/fc_init.c

@@ -304,6 +304,7 @@ void init(void)
     // Initialize servo and motor mixers
     // This needs to be called early to set up platform type correctly and count required motors & servos
     mixerConfigInit();
+    checkMixerProfileHotSwitchAvalibility();
 
     // Some sanity checking
     if (motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) {

src/main/fc/fc_msp_box.c

@@ -421,8 +421,8 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
     CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION)),   BOXCHANGEMISSION);
 #endif
 #if (MAX_MIXER_PROFILE_COUNT > 1)
-    CHECK_ACTIVE_BOX(IS_ENABLED(currentMixerProfileIndex));
+    CHECK_ACTIVE_BOX(IS_ENABLED(currentMixerProfileIndex),              BOXMIXERPROFILE);
-    CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION)));
+    CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION)), BOXMIXERTRANSITION);
 #endif
     memset(mspBoxModeFlags, 0, sizeof(boxBitmask_t));
     for (uint32_t i = 0; i < activeBoxIdCount; i++) {

src/main/fc/settings.yaml

@@ -203,7 +203,6 @@ constants:
 
   MAX_CONTROL_RATE_PROFILE_COUNT: 3
   MAX_BATTERY_PROFILE_COUNT: 3
-  MAX_MIXER_PROFILE_COUNT: 2
 
 
 groups:
@@ -1164,10 +1163,10 @@ groups:
         default_value: "AUTO"
         field: mixer_config.outputMode
         table: output_mode
-      - name: motorstop_feature
+      - name: motorstop_on_low
         description: "If enabled, motor will stop when throttle is low"
         default_value: OFF
-        field: mixer_config.motorstopFeature
+        field: mixer_config.motorstopOnLow
         type: bool
       - name: mixer_pid_profile_linking
         description: "If enabled, pid profile index will follow mixer profile index"

src/main/flight/mixer.c

@@ -116,7 +116,7 @@ static void computeMotorCount(void)
 }
 
 bool ifMotorstopFeatureEnabled(void){
-    return currentMixerConfig.motorstopFeature;
+    return currentMixerConfig.motorstopOnLow;
 }
 
 uint8_t getMotorCount(void) {
@@ -598,7 +598,7 @@ void FAST_CODE mixTable(void)
                 motor[i] = motorZeroCommand;
             }
             //spin stopped motors only in mixer transition mode
-            if (IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION) && currentMixer[i].throttle <= -1.05f && currentMixer[i].throttle >= -2.0f && (!feature(FEATURE_REVERSIBLE_MOTORS))) {
+            if (isInMixerTransition && currentMixer[i].throttle <= -1.05f && currentMixer[i].throttle >= -2.0f && (!feature(FEATURE_REVERSIBLE_MOTORS))) {
                 motor[i] = -currentMixer[i].throttle * 1000;
                 motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax);
             }

src/main/flight/mixer_profile.c

@@ -28,6 +28,7 @@
 
 mixerConfig_t currentMixerConfig;
 int currentMixerProfileIndex;
+bool isInMixerTransition;
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
 
@@ -41,8 +42,8 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
                 .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
                 .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
                 .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
-                .motorstopFeature = SETTING_MOTORSTOP_FEATURE_DEFAULT,
+                .motorstopOnLow = SETTING_MOTORSTOP_ON_LOW_DEFAULT,
-                .PIDProfileLinking = SETTING_OUTPUT_MODE_DEFAULT
+                .PIDProfileLinking = SETTING_MIXER_PID_PROFILE_LINKING_DEFAULT
             }
         );
         for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
@@ -105,10 +106,6 @@ static int computeServoCountByMixerProfileIndex(int index)
 
     const servoMixer_t* temp_servomixers=mixerServoMixersByIndex(index)[0];
     for (int i = 0; i < MAX_SERVO_RULES; i++) {
-        // mixerServoMixersByIndex(index)[i]->targetChannel will occour problem after i=1
-        // LOG_INFO(PWM, "i:%d, targetChannel:%d, inputSource:%d, rate:%d",i,mixerServoMixersByIndex(index)[i]->targetChannel,mixerServoMixersByIndex(index)[i]->inputSource,mixerServoMixersByIndex(index)[i]->rate);
-        // LOG_INFO(PWM, "i:%d, targetChannel:%d, inputSource:%d, rate:%d",i,mixerProfiles_SystemArray[index].ServoMixers[i].targetChannel,mixerProfiles_SystemArray[index].ServoMixers[i].inputSource,mixerProfiles_SystemArray[index].ServoMixers[i].rate);
-        // LOG_INFO(PWM, "i:%d, targetChannel:%d, inputSource:%d, rate:%d",i,temp_servomixers[i].targetChannel,temp_servomixers[i].inputSource,temp_servomixers[i].rate);
         if (temp_servomixers[i].rate == 0)
             break;
 
@@ -130,9 +127,51 @@ static int computeServoCountByMixerProfileIndex(int index)
     }
 }
 
+bool checkMixerProfileHotSwitchAvalibility(void)
+{
+    static int allow_hot_switch = -1;
+    //pwm mapping maps outputs based on platformtype, check if mapping remain unchanged after the switch
+    //do not allow switching between multi rotor and non multi rotor if sannity check fails
+    if (MAX_MIXER_PROFILE_COUNT!=2)
+    {
+        return false;
+    }
+    if (allow_hot_switch == 0)
+    {
+        return false;
+    }
+    if (allow_hot_switch == 1)
+    {
+        return true;
+    }
+#ifdef ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
+    bool MCFW_hotswap_available = true;
+#else
+    bool MCFW_hotswap_available = false;
+#endif
+    uint8_t platform_type0 = mixerConfigByIndex(0)->platformType;
+    uint8_t platform_type1 = mixerConfigByIndex(1)->platformType;
+    bool platform_type_mc0 = (platform_type0 == PLATFORM_MULTIROTOR) || (platform_type0 == PLATFORM_TRICOPTER);
+    bool platform_type_mc1 = (platform_type1 == PLATFORM_MULTIROTOR) || (platform_type1 == PLATFORM_TRICOPTER);
+    bool is_mcfw_switching = platform_type_mc0 ^ platform_type_mc1;
+    if ((!MCFW_hotswap_available) && is_mcfw_switching)
+    {
+        allow_hot_switch = 0;
+        return false;
+    }
+    //do not allow switching if motor or servos counts are different
+    if ((computeMotorCountByMixerProfileIndex(0) != computeMotorCountByMixerProfileIndex(1)) || (computeServoCountByMixerProfileIndex(0) != computeServoCountByMixerProfileIndex(1)))
+    {
+        allow_hot_switch = 0;
+        return false;
+    }
+    allow_hot_switch = 1;
+    return true;
+}
 
 void outputProfileUpdateTask(timeUs_t currentTimeUs) {
     UNUSED(currentTimeUs);
+    isInMixerTransition = IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION);
     outputProfileHotSwitch((int) IS_RC_MODE_ACTIVE(BOXMIXERPROFILE));
 
 }
@@ -153,117 +192,27 @@ bool outputProfileHotSwitch(int profile_index)
     }
     if (profile_index < 0 || profile_index >= MAX_MIXER_PROFILE_COUNT)
     { // sanity check
-        LOG_INFO(PWM, "invalid mixer profile index");
+        // LOG_INFO(PWM, "invalid mixer profile index");
         return false;
     }
     if (areSensorsCalibrating()) {//it seems like switching before sensors calibration complete will cause pid stops to respond, especially in D,TODO
         return false;
     }
-    //do not allow switching in navigation mode
+    // do not allow switching when user activated navigation mode
-    if (ARMING_FLAG(ARMED) && (navigationInAnyMode() || isUsingNavigationModes())){
+    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
-        LOG_INFO(PWM, "mixer switch failed, navModesEnabled");
+    if (ARMING_FLAG(ARMED) && navBoxModesEnabled){
+        // LOG_INFO(PWM, "mixer switch failed, navModesEnabled");
         return false;
     }
-    //pwm mapping map outputs based on platformtype, check if mapping remain unchanged after the switch
+    if (!checkMixerProfileHotSwitchAvalibility()){
-    //do not allow switching between multi rotor and non multi rotor if sannity check fails
+        // LOG_INFO(PWM, "mixer switch failed, checkMixerProfileHotSwitchAvalibility");
-#ifdef ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
-    bool MCFW_hotswap_available = true;
-#else
-    bool MCFW_hotswap_available = false;
-#endif
-    uint8_t old_platform_type = currentMixerConfig.platformType;
-    uint8_t new_platform_type = mixerConfigByIndex(profile_index)->platformType;
-    bool old_platform_type_mc = old_platform_type == PLATFORM_MULTIROTOR || old_platform_type == PLATFORM_TRICOPTER;
-    bool new_platform_type_mc = new_platform_type == PLATFORM_MULTIROTOR || new_platform_type == PLATFORM_TRICOPTER;
-    bool is_mcfw_switching = old_platform_type_mc ^ new_platform_type_mc;
-    if ((!MCFW_hotswap_available) && is_mcfw_switching)
-    {
-        LOG_INFO(PWM, "mixer MCFW_hotswap_unavailable");
-        allow_hot_switch = false;
-        return false;
-    }
-    //do not allow switching if motor or servos counts has changed
-    if ((getMotorCount() != computeMotorCountByMixerProfileIndex(profile_index)) || (getServoCount() != computeServoCountByMixerProfileIndex(profile_index)))
-    {
-
-        LOG_INFO(PWM, "mixer switch failed, because of motor/servo count will change");
-        // LOG_INFO(PWM, "old motor/servo count:%d,%d",getMotorCount(),getServoCount());
-        // LOG_INFO(PWM, "new motor/servo count:%d,%d",computeMotorCountByMixerProfileIndex(profile_index),computeServoCountByMixerProfileIndex(profile_index));
-        allow_hot_switch = false;
         return false;
     }
     if (!setConfigMixerProfile(profile_index)){
-        LOG_INFO(PWM, "mixer switch failed to set config");
+        // LOG_INFO(PWM, "mixer switch failed to set config");
         return false;
     }
     stopMotorsNoDelay();
     mixerConfigInit();
-
     return true;
 }
-
-// static int min_ab(int a,int b)
-// {
-//     return a > b ? b : a;
-// }
-
-// void checkOutputMapping(int profile_index)//debug purpose
-// {
-//     timMotorServoHardware_t old_timOutputs;
-//     pwmBuildTimerOutputList(&old_timOutputs, isMixerUsingServos());
-//     stopMotors();
-//     delay(1000); //check motor stop
-//     if (!setConfigMixerProfile(profile_index)){
-//         LOG_INFO(PWM, "failed to set config");
-//         return;
-//     }
-//     servosInit();
-//     mixerUpdateStateFlags();
-//     mixerInit();
-//     timMotorServoHardware_t timOutputs;
-//     pwmBuildTimerOutputList(&timOutputs, isMixerUsingServos());
-//     bool motor_output_type_not_changed = old_timOutputs.maxTimMotorCount == timOutputs.maxTimMotorCount;
-//     bool servo_output_type_not_changed = old_timOutputs.maxTimServoCount == timOutputs.maxTimServoCount;
-//     LOG_INFO(PWM, "maxTimMotorCount:%d,%d",old_timOutputs.maxTimMotorCount,timOutputs.maxTimMotorCount);
-//     for (int i; i < min_ab(old_timOutputs.maxTimMotorCount,timOutputs.maxTimMotorCount); i++)
-//     {
-//         LOG_INFO(PWM, "motor_output_type_not_changed:%d,%d",i,motor_output_type_not_changed);
-//         motor_output_type_not_changed &= old_timOutputs.timMotors[i]->tag==timOutputs.timMotors[i]->tag;
-//     }
-//     LOG_INFO(PWM, "motor_output_type_not_changed:%d",motor_output_type_not_changed);
-
-//     LOG_INFO(PWM, "maxTimServoCount:%d,%d",old_timOutputs.maxTimServoCount,timOutputs.maxTimServoCount);
-//     for (int i; i < min_ab(old_timOutputs.maxTimServoCount,timOutputs.maxTimServoCount); i++)
-//     {
-//         LOG_INFO(PWM, "servo_output_type_not_changed:%d,%d",i,servo_output_type_not_changed);
-//         servo_output_type_not_changed &= old_timOutputs.timServos[i]->tag==timOutputs.timServos[i]->tag;
-//     }
-//     LOG_INFO(PWM, "servo_output_type_not_changed:%d",servo_output_type_not_changed);
-
-//     if(!motor_output_type_not_changed || !servo_output_type_not_changed){
-//         LOG_INFO(PWM, "pwm output mapping has changed");
-//     }
-// }
-
-//check if a pid profile switch followed on a mixer profile switch
-// static bool CheckIfPidInitNeededInSwitch(void)
-// {
-//     static bool ret = true;
-//     if (!ret)
-//     {
-//         return false;
-//     }
-//     for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++)
-//     {
-//         const int activatorValue = logicConditionGetValue(logicConditions(i)->activatorId);
-//         const logicOperand_t *operandA = &(logicConditions(i)->operandA);
-//         if (logicConditions(i)->enabled && activatorValue && logicConditions(i)->operation == LOGIC_CONDITION_SET_PROFILE &&
-//             operandA->type == LOGIC_CONDITION_OPERAND_TYPE_FLIGHT && operandA->value == LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE &&
-//             logicConditions(i)->flags == 0)
-//         {
-//             ret = false;
-//             return false;
-//         }
-//     }
-//     return true;
-// }

src/main/flight/mixer_profile.h

@@ -15,7 +15,7 @@ typedef struct mixerConfig_s {
     bool hasFlaps;
     int16_t appliedMixerPreset;
     uint8_t outputMode;
-    bool motorstopFeature;
+    bool motorstopOnLow;
     bool PIDProfileLinking;
 } mixerConfig_t;
 typedef struct mixerProfile_s {
@@ -28,6 +28,7 @@ PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
 
 extern mixerConfig_t currentMixerConfig;
 extern int currentMixerProfileIndex;
+extern bool isInMixerTransition;
 #define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
 #define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())
 
@@ -45,5 +46,6 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
 #define mixerServoMixersByIndex(index) (&(mixerProfiles(index)->ServoMixers))
 
 bool outputProfileHotSwitch(int profile_index);
+bool checkMixerProfileHotSwitchAvalibility(void);
 void mixerConfigInit(void);
 void outputProfileUpdateTask(timeUs_t currentTimeUs);

src/main/flight/servos.c

@@ -317,7 +317,7 @@ void servoMixer(float dT)
 
     input[INPUT_STABILIZED_THROTTLE] = mixerThrottleCommand - 1000 - 500;  // Since it derives from rcCommand or mincommand and must be [-500:+500]
 
-    input[BOXMIXERTRANSITION] = IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION) * 500; //fixed value
+    input[INPUT_MIXER_TRANSITION] = isInMixerTransition * 500; //fixed value
 
     // center the RC input value around the RC middle value
     // by subtracting the RC middle value from the RC input value, we get:

src/main/navigation/navigation.h

@@ -590,7 +590,6 @@ void abortForcedEmergLanding(void);
 emergLandState_e getStateOfForcedEmergLanding(void);
 
 /* Getter functions which return data about the state of the navigation system */
-bool navigationInAnyMode(void);
 bool navigationInAutomaticThrottleMode(void);
 bool navigationIsControllingThrottle(void);
 bool isFixedWingAutoThrottleManuallyIncreased(void);

src/main/target/common.h

@@ -187,5 +187,6 @@
 #define USE_SERIALRX_SUMD
 #define USE_TELEMETRY_HOTT
 #define USE_HOTT_TEXTMODE
+#else
 #define MAX_MIXER_PROFILE_COUNT 1
 #endif