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FrSky Single stick radio

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This commit is contained in:
Bertrand Songis 2017-04-23 11:12:01 +02:00
parent c79994d812
commit 2670b3121d
78 changed files with 6933 additions and 704 deletions
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42
radio/src/mixer.cpp
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@ -27,9 +27,9 @@
int16_t rawAnas[NUM_INPUTS] = {0};
#endif
int16_t anas [NUM_INPUTS] = {0};
int16_t trims[NUM_STICKS+NUM_AUX_TRIMS] = {0};
int32_t chans[MAX_OUTPUT_CHANNELS] = {0};
int16_t anas [NUM_INPUTS] = {0};
int16_t trimsxx[NUM_TRIMS] = {0};
int32_t chans[MAX_OUTPUT_CHANNELS] = {0};
BeepANACenter bpanaCenter = 0;
int24_t act [MAX_MIXERS] = {0};
@ -222,8 +222,8 @@ void applyExpos(int16_t * anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
//========== TRIMS ================
if (ed->carryTrim < TRIM_ON)
virtualInputsTrims[cur_chn] = -ed->carryTrim - 1;
else if (ed->carryTrim == TRIM_ON && ed->srcRaw >= MIXSRC_Rud && ed->srcRaw <= MIXSRC_Ail)
virtualInputsTrims[cur_chn] = ed->srcRaw - MIXSRC_Rud;
else if (ed->carryTrim == TRIM_ON && ed->srcRaw >= INPUTSRC_FIRST && ed->srcRaw < INPUTSRC_FIRST+NUM_STICKS)
virtualInputsTrims[cur_chn] = ed->srcRaw - INPUTSRC_FIRST;
else
virtualInputsTrims[cur_chn] = -1;
#endif
@ -282,6 +282,22 @@ int16_t applyLimits(uint8_t channel, int32_t value)
// unfortunately the constants and 32bit compares generates about 50 bytes codes; didn't find a way to get it down.
value = limit(int32_t(-RESXl*256), value, int32_t(RESXl*256)); // saves 2 bytes compared to other solutions up to now
#if defined(PCBACAIR)
if (channel < NUM_STICKS) {
int trimIndex = (3 * channel);
int trimMin = trimsxx[trimIndex + 1];
if (value >= 0) {
int trimMax = trimsxx[trimIndex + 2];
value += 256 * (trimMin + ((trimMax - trimMin) * value / (RESXl * 256)));
}
else {
int trimMax = trimsxx[trimIndex];
value += 256 * (trimMin + ((trimMin - trimMax) * value / (RESXl * 256)));
}
g_model.moduleData[INTERNAL_MODULE].failsafeChannels[channel] = (lim->revert ? -trimsxx[trimIndex + 1] : trimsxx[trimIndex + 1]);
}
#endif
#if defined(PPM_LIMITS_SYMETRICAL)
if (value) {
int16_t tmp;
@ -352,7 +368,7 @@ getvalue_t getValue(mixsrc_t i)
#if defined(LUA_INPUTS)
else if (i <= MIXSRC_LAST_POT+NUM_MOUSE_ANALOGS) {
return calibratedAnalogs[i-MIXSRC_Rud];
return calibratedAnalogs[i-INPUTSRC_FIRST];
}
#else
else if (i>=MIXSRC_FIRST_STICK && i<=MIXSRC_LAST_POT+NUM_MOUSE_ANALOGS) {
@ -656,7 +672,10 @@ int getStickTrimValue(int stick, int stickValue)
if (stick < 0)
return 0;
int trim = trims[stick];
#if defined(PCBACAIR)
return 0;
#else
int trim = trimsxx[stick];
if (stick == THR_STICK) {
if (g_model.thrTrim) {
int trimMin = g_model.extendedTrims ? 2*TRIM_EXTENDED_MIN : 2*TRIM_MIN;
@ -667,12 +686,13 @@ int getStickTrimValue(int stick, int stickValue)
}
}
return trim;
#endif
}
int getSourceTrimValue(int source, int stickValue=0)
{
if (source >= MIXSRC_Rud && source <= MIXSRC_Ail)
return getStickTrimValue(source - MIXSRC_Rud, stickValue);
if (source >= MIXSRC_FIRST_STICK && source < MIXSRC_FIRST_STICK+NUM_STICKS)
return getStickTrimValue(source - MIXSRC_FIRST_STICK, stickValue);
else if (source >= MIXSRC_FIRST_INPUT && source <= MIXSRC_LAST_INPUT)
return getStickTrimValue(virtualInputsTrims[source - MIXSRC_FIRST_INPUT], stickValue);
else
@ -794,7 +814,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
if (md->srcRaw == 0) break;
mixsrc_t stickIndex = md->srcRaw - MIXSRC_Rud;
mixsrc_t stickIndex = md->srcRaw - MIXSRC_FIRST_STICK;
if (!(dirtyChannels & ((bitfield_channels_t)1 << md->destCh))) continue;
@ -850,7 +870,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
else
#endif
{
mixsrc_t srcRaw = MIXSRC_Rud + stickIndex;
mixsrc_t srcRaw = MIXSRC_FIRST_STICK + stickIndex;
v = getValue(srcRaw);
srcRaw -= MIXSRC_CH1;
if (srcRaw<=MIXSRC_LAST_CH-MIXSRC_CH1 && md->destCh != srcRaw) {