mirror of
https://github.com/opentx/opentx.git
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Mixer code splitted differently
This commit is contained in:
bsongis
parent
55ed62e6ac
commit
2fbd4ff13a
16 changed files with 449 additions and 469 deletions
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@ -241,7 +241,7 @@ void per10ms()
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telemetryInterrupt10ms();
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#endif
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// These moved here from perOut() to improve beep trigger reliability.
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// These moved here from evalFlightModeMixes() to improve beep trigger reliability.
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#if defined(PWM_BACKLIGHT)
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if ((g_tmr10ms&0x03) == 0x00)
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backlightFade(); // increment or decrement brightness until target brightness is reached
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@ -574,7 +574,7 @@ uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
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#if defined(ROTARY_ENCODERS)
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uint8_t getRotaryEncoderFlightPhase(uint8_t idx)
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{
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uint8_t phase = s_perout_flight_mode;
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uint8_t phase = s_current_mixer_flight_mode;
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for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
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if (phase == 0) return 0;
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#if ROTARY_ENCODERS > 2
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@ -1054,7 +1054,7 @@ void checkAll()
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clearKeyEvents();
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SKIP_AUTOMATIC_PROMPTS();
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START_SILENCE_PERIOD();
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}
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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@ -1232,13 +1232,13 @@ uint8_t checkTrim(uint8_t event)
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#if defined(PCBSTD)
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phase = 0;
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#else
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phase = getGVarFlightPhase(s_perout_flight_mode, trimGvar[idx]);
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phase = getGVarFlightPhase(s_current_mixer_flight_mode, trimGvar[idx]);
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#endif
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before = GVAR_VALUE(trimGvar[idx], phase);
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thro = false;
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}
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else {
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phase = getTrimFlightPhase(s_perout_flight_mode, idx);
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phase = getTrimFlightPhase(s_current_mixer_flight_mode, idx);
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#if defined(PCBTARANIS)
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before = getTrimValue(phase, idx);
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#else
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@ -1247,7 +1247,7 @@ uint8_t checkTrim(uint8_t event)
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thro = (idx==THR_STICK && g_model.thrTrim);
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}
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#else
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phase = getTrimFlightPhase(s_perout_flight_mode, idx);
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phase = getTrimFlightPhase(s_current_mixer_flight_mode, idx);
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#if defined(PCBTARANIS)
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before = getTrimValue(phase, idx);
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#else
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@ -1585,7 +1585,7 @@ void resetAll()
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s_last_switch_value = 0;
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s_mixer_first_run_done = false;
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SKIP_AUTOMATIC_PROMPTS();
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START_SILENCE_PERIOD();
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RESET_THR_TRACE();
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}
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@ -1603,7 +1603,7 @@ uint16_t s_sum_samples_thr_10s;
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FORCEINLINE void evalTrims()
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{
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uint8_t phase = s_perout_flight_mode;
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uint8_t phase = s_current_mixer_flight_mode;
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for (uint8_t i=0; i<NUM_STICKS; i++) {
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// do trim -> throttle trim if applicable
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int16_t trim = getTrimValue(phase, i);
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@ -1803,10 +1803,6 @@ inline void playCustomFunctionFile(CustomFnData *sd, uint8_t id)
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}
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#endif
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#if defined(CPUARM)
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bool evalFunctionsFirstTime = true;
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#endif
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void evalFunctions()
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{
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MASK_FUNC_TYPE newActiveFunctions = 0;
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@ -1912,14 +1908,14 @@ void evalFunctions()
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#if defined(GVARS)
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case FUNC_ADJUST_GVAR:
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if (CFN_GVAR_MODE(sd) == 0) {
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SET_GVAR(CFN_GVAR_INDEX(sd), CFN_PARAM(sd), s_perout_flight_mode);
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SET_GVAR(CFN_GVAR_INDEX(sd), CFN_PARAM(sd), s_current_mixer_flight_mode);
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}
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else if (CFN_GVAR_MODE(sd) == 2) {
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_PARAM(sd), s_perout_flight_mode), s_perout_flight_mode);
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_PARAM(sd), s_current_mixer_flight_mode), s_current_mixer_flight_mode);
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}
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else if (CFN_GVAR_MODE(sd) == 3) {
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if (!(activeFnSwitches & switch_mask)) {
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_perout_flight_mode, CFN_GVAR_INDEX(sd))) + (CFN_PARAM(sd) ? +1 : -1), s_perout_flight_mode);
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_current_mixer_flight_mode, CFN_GVAR_INDEX(sd))) + (CFN_PARAM(sd) ? +1 : -1), s_current_mixer_flight_mode);
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}
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}
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else if (CFN_PARAM(sd) >= MIXSRC_TrimRud && CFN_PARAM(sd) <= MIXSRC_TrimAil) {
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@ -1929,12 +1925,12 @@ void evalFunctions()
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else if (CFN_PARAM(sd) >= MIXSRC_REa && CFN_PARAM(sd) < MIXSRC_TrimRud) {
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int8_t scroll = rePreviousValues[CFN_PARAM(sd)-MIXSRC_REa] - (g_rotenc[CFN_PARAM(sd)-MIXSRC_REa] / ROTARY_ENCODER_GRANULARITY);
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if (scroll) {
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_perout_flight_mode, CFN_GVAR_INDEX(sd))) + scroll, s_perout_flight_mode);
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SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_current_mixer_flight_mode, CFN_GVAR_INDEX(sd))) + scroll, s_current_mixer_flight_mode);
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}
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}
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#endif
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else {
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SET_GVAR(CFN_GVAR_INDEX(sd), limit((getvalue_t)-LIMIT_EXT_MAX, getValue(CFN_PARAM(sd)), (getvalue_t)LIMIT_EXT_MAX) / 10, s_perout_flight_mode);
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SET_GVAR(CFN_GVAR_INDEX(sd), limit((getvalue_t)-LIMIT_EXT_MAX, getValue(CFN_PARAM(sd)), (getvalue_t)LIMIT_EXT_MAX) / 10, s_current_mixer_flight_mode);
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}
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break;
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#endif
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@ -1962,7 +1958,7 @@ void evalFunctions()
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{
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tmr10ms_t tmr10ms = get_tmr10ms();
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uint8_t repeatParam = CFN_PLAY_REPEAT(sd);
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if (evalFunctionsFirstTime && repeatParam == CFN_PLAY_REPEAT_NOSTART)
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if (!IS_SILENCE_PERIOD_ELAPSED() && repeatParam == CFN_PLAY_REPEAT_NOSTART)
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lastFunctionTime[i] = tmr10ms;
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if (!lastFunctionTime[i] || (repeatParam && repeatParam!=CFN_PLAY_REPEAT_NOSTART && (signed)(tmr10ms-lastFunctionTime[i])>=100*repeatParam)) {
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if (!IS_PLAYING(i+1)) {
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@ -2017,7 +2013,7 @@ void evalFunctions()
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else {
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#if defined(GVARS)
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if (CFN_FUNC(sd) == FUNC_PLAY_TRACK && param > 250)
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param = GVAR_VALUE(param-251, getGVarFlightPhase(s_perout_flight_mode, param-251));
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param = GVAR_VALUE(param-251, getGVarFlightPhase(s_current_mixer_flight_mode, param-251));
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#endif
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PUSH_CUSTOM_PROMPT(active ? param : param+1, i+1);
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}
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@ -2086,12 +2082,351 @@ void evalFunctions()
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rePreviousValues[i] = (g_rotenc[i] / ROTARY_ENCODER_GRANULARITY);
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}
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#endif
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#if defined(CPUARM)
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evalFunctionsFirstTime = false;
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#endif
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}
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uint8_t s_mixer_first_run_done = false;
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void doMixerCalculations()
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{
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static tmr10ms_t lastTMR = 0;
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tmr10ms_t tmr10ms = get_tmr10ms();
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uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
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// handle tick10ms overrun
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// correct overflow handling costs a lot of code; happens only each 11 min;
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// therefore forget the exact calculation and use only 1 instead; good compromise
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#if !defined(CPUARM)
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lastTMR = tmr10ms;
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#endif
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getADC();
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getSwitchesPosition(!s_mixer_first_run_done);
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#if defined(CPUARM)
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lastTMR = tmr10ms;
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#endif
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#if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
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Current_analogue = (Current_analogue*31 + s_anaFilt[8] ) >> 5 ;
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if (Current_analogue > Current_max)
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Current_max = Current_analogue ;
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#elif defined(CPUM2560) && !defined(SIMU)
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// For PCB V4, use our own 1.2V, external reference (connected to ADC3)
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ADCSRB &= ~(1<<MUX5);
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ADMUX = 0x03|ADC_VREF_TYPE; // Switch MUX to internal reference
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#elif defined(PCBSTD) && !defined(SIMU)
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ADMUX = 0x1E|ADC_VREF_TYPE; // Switch MUX to internal reference
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#endif
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evalMixes(tick10ms);
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#if !defined(CPUARM)
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// Bandgap has had plenty of time to settle...
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getADC_bandgap();
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#endif
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if (tick10ms) {
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/* Throttle trace */
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int16_t val;
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if (g_model.thrTraceSrc > NUM_POTS) {
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uint8_t ch = g_model.thrTraceSrc-NUM_POTS-1;
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val = channelOutputs[ch];
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LimitData *lim = limitAddress(ch);
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int16_t gModelMax = LIMIT_MAX_RESX(lim);
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int16_t gModelMin = LIMIT_MIN_RESX(lim);
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if (lim->revert)
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val = -val + gModelMax;
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else
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val = val - gModelMin;
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#if defined(PPM_LIMITS_SYMETRICAL)
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if (lim->symetrical)
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val -= calc1000toRESX(lim->offset);
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#endif
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gModelMax -= gModelMin; // we compare difference between Max and Mix for recaling needed; Max and Min are shifted to 0 by default
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// usually max is 1024 min is -1024 --> max-min = 2048 full range
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#ifdef ACCURAT_THROTTLE_TIMER
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if (gModelMax!=0 && gModelMax!=2048) val = (int32_t) (val << 11) / (gModelMax); // rescaling only needed if Min, Max differs
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#else
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// @@@ open.20.fsguruh optimized calculation; now *8 /8 instead of 10 base; (*16/16 already cause a overrun; unsigned calculation also not possible, because v may be negative)
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gModelMax+=255; // force rounding up --> gModelMax is bigger --> val is smaller
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gModelMax >>= (10-2);
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if (gModelMax!=0 && gModelMax!=8) {
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val = (val << 3) / gModelMax; // rescaling only needed if Min, Max differs
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}
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#endif
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if (val<0) val=0; // prevent val be negative, which would corrupt throttle trace and timers; could occur if safetyswitch is smaller than limits
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}
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else {
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#ifdef PCBTARANIS
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val = RESX + calibratedStick[g_model.thrTraceSrc == 0 ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1];
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#else
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val = RESX + rawAnas[g_model.thrTraceSrc == 0 ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1];
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#endif
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}
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#if defined(ACCURAT_THROTTLE_TIMER)
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val >>= (RESX_SHIFT-6); // calibrate it (resolution increased by factor 4)
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#else
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val >>= (RESX_SHIFT-4); // calibrate it
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#endif
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// Timers start
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for (uint8_t i=0; i<MAX_TIMERS; i++) {
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int8_t tm = g_model.timers[i].mode;
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uint16_t tv = g_model.timers[i].start;
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TimerState * timerState = &timersStates[i];
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if (tm) {
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if (timerState->state == TMR_OFF) {
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timerState->state = TMR_RUNNING;
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timerState->cnt = 0;
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timerState->sum = 0;
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}
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// value for time described in timer->mode
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// OFFABSTHsTH%THt
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if (tm == TMRMODE_THR_REL) {
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timerState->cnt++;
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timerState->sum+=val;
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}
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if ((timerState->val_10ms += tick10ms) >= 100) {
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timerState->val_10ms -= 100 ;
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int16_t newTimerVal = timerState->val;
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if (tv) newTimerVal = tv - newTimerVal;
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if (tm == TMRMODE_ABS) {
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newTimerVal++;
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}
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else if (tm == TMRMODE_THR) {
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if (val) newTimerVal++;
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}
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else if (tm == TMRMODE_THR_REL) {
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// @@@ open.20.fsguruh: why so complicated? we have already a s_sum field; use it for the half seconds (not showable) as well
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// check for s_cnt[i]==0 is not needed because we are shure it is at least 1
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#if defined(ACCURAT_THROTTLE_TIMER)
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if ((timerState->sum/timerState->cnt)>=128) { // throttle was normalized to 0 to 128 value (throttle/64*2 (because - range is added as well)
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newTimerVal++; // add second used of throttle
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timerState->sum-=128*timerState->cnt;
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}
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#else
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if ((timerState->sum/timerState->cnt)>=32) { // throttle was normalized to 0 to 32 value (throttle/16*2 (because - range is added as well)
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newTimerVal++; // add second used of throttle
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timerState->sum-=32*timerState->cnt;
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}
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#endif
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timerState->cnt=0;
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}
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else if (tm == TMRMODE_THR_TRG) {
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if (val || newTimerVal > 0)
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newTimerVal++;
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}
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else {
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if (tm > 0) tm -= (TMR_VAROFS-1);
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if (getSwitch(tm))
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newTimerVal++;
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}
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switch (timerState->state) {
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case TMR_RUNNING:
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if (tv && newTimerVal>=(int16_t)tv) {
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AUDIO_TIMER_00(g_model.timers[i].countdownBeep);
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timerState->state = TMR_NEGATIVE;
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}
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break;
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case TMR_NEGATIVE:
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if (newTimerVal >= (int16_t)tv + MAX_ALERT_TIME) timerState->state = TMR_STOPPED;
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break;
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}
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if (tv) newTimerVal = tv - newTimerVal; // if counting backwards - display backwards
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if (newTimerVal != timerState->val) {
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timerState->val = newTimerVal;
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if (timerState->state == TMR_RUNNING) {
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if (g_model.timers[i].countdownBeep && g_model.timers[i].start) {
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if (newTimerVal==30) AUDIO_TIMER_30();
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if (newTimerVal==20) AUDIO_TIMER_20();
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if (newTimerVal<=10) AUDIO_TIMER_LT10(g_model.timers[i].countdownBeep, newTimerVal);
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}
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if (g_model.timers[i].minuteBeep && (newTimerVal % 60)==0) {
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AUDIO_TIMER_MINUTE(newTimerVal);
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}
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}
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}
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}
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}
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} //endfor timer loop (only two)
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static uint8_t s_cnt_100ms;
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static uint8_t s_cnt_1s;
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static uint8_t s_cnt_samples_thr_1s;
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static uint16_t s_sum_samples_thr_1s;
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s_cnt_samples_thr_1s++;
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s_sum_samples_thr_1s+=val;
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if ((s_cnt_100ms += tick10ms) >= 10) { // 0.1sec
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s_cnt_100ms -= 10;
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s_cnt_1s += 1;
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for (uint8_t i=0; i<NUM_LOGICAL_SWITCH; i++) {
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LogicalSwitchData * cs = cswAddress(i);
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if (cs->func == LS_FUNC_TIMER) {
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int16_t *lastValue = &csLastValue[i];
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if (*lastValue == 0 || *lastValue == CS_LAST_VALUE_INIT) {
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*lastValue = -cswTimerValue(cs->v1);
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}
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else if (*lastValue < 0) {
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if (++(*lastValue) == 0)
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*lastValue = cswTimerValue(cs->v2);
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}
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else { // if (*lastValue > 0)
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*lastValue -= 1;
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}
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}
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else if (cs->func == LS_FUNC_STICKY) {
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PACK(typedef struct {
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uint8_t state;
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uint8_t last;
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}) cs_sticky_struct;
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cs_sticky_struct & lastValue = (cs_sticky_struct &)csLastValue[i];
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bool before = lastValue.last & 0x01;
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if (lastValue.state) {
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bool now = getSwitch(cs->v2);
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if (now != before) {
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lastValue.last ^= 1;
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if (!before) {
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lastValue.state = 0;
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}
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}
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}
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else {
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bool now = getSwitch(cs->v1);
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if (before != now) {
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lastValue.last ^= 1;
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if (!before) {
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lastValue.state = 1;
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}
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}
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}
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}
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#if defined(CPUARM)
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else if (cs->func == LS_FUNC_STAY) {
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PACK(typedef struct {
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uint16_t state:1;
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uint16_t duration:15;
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}) cs_stay_struct;
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cs_stay_struct & lastValue = (cs_stay_struct &)csLastValue[i];
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lastValue.state = false;
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bool state = getSwitch(cs->v1);
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if (state) {
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if (cs->v3 == 0 && lastValue.duration == cswTimerValue(cs->v2))
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lastValue.state = true;
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if (lastValue.duration < 1000)
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lastValue.duration++;
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}
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else {
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if (lastValue.duration > cswTimerValue(cs->v2) && lastValue.duration <= cswTimerValue(cs->v2+cs->v3))
|
||||
lastValue.state = true;
|
||||
lastValue.duration = 0;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
if (s_cnt_1s >= 10) { // 1sec
|
||||
s_cnt_1s -= 10;
|
||||
s_timeCumTot += 1;
|
||||
|
||||
struct t_inactivity *ptrInactivity = &inactivity;
|
||||
FORCE_INDIRECT(ptrInactivity) ;
|
||||
ptrInactivity->counter++;
|
||||
if ((((uint8_t)ptrInactivity->counter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && ptrInactivity->counter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
|
||||
AUDIO_INACTIVITY();
|
||||
|
||||
#if defined(AUDIO)
|
||||
if (mixWarning & 1) if ((s_timeCumTot&0x03)==0) AUDIO_MIX_WARNING(1);
|
||||
if (mixWarning & 2) if ((s_timeCumTot&0x03)==1) AUDIO_MIX_WARNING(2);
|
||||
if (mixWarning & 4) if ((s_timeCumTot&0x03)==2) AUDIO_MIX_WARNING(3);
|
||||
#endif
|
||||
|
||||
#if defined(ACCURAT_THROTTLE_TIMER)
|
||||
val = s_sum_samples_thr_1s / s_cnt_samples_thr_1s;
|
||||
s_timeCum16ThrP += (val>>3); // s_timeCum16ThrP would overrun if we would store throttle value with higher accuracy; therefore stay with 16 steps
|
||||
if (val) s_timeCumThr += 1;
|
||||
s_sum_samples_thr_1s>>=2; // correct better accuracy now, because trace graph can show this information; in case thrtrace is not active, the compile should remove this
|
||||
#else
|
||||
val = s_sum_samples_thr_1s / s_cnt_samples_thr_1s;
|
||||
s_timeCum16ThrP += (val>>1);
|
||||
if (val) s_timeCumThr += 1;
|
||||
#endif
|
||||
|
||||
#if defined(THRTRACE)
|
||||
// throttle trace is done every 10 seconds; Tracebuffer is adjusted to screen size.
|
||||
// in case buffer runs out, it wraps around
|
||||
// resolution for y axis is only 32, therefore no higher value makes sense
|
||||
s_cnt_samples_thr_10s += s_cnt_samples_thr_1s;
|
||||
s_sum_samples_thr_10s += s_sum_samples_thr_1s;
|
||||
|
||||
if (++s_cnt_10s >= 10) { // 10s
|
||||
s_cnt_10s -= 10;
|
||||
val = s_sum_samples_thr_10s / s_cnt_samples_thr_10s;
|
||||
s_sum_samples_thr_10s = 0;
|
||||
s_cnt_samples_thr_10s = 0;
|
||||
|
||||
s_traceBuf[s_traceWr++] = val;
|
||||
if (s_traceWr >= MAXTRACE) s_traceWr = 0;
|
||||
if (s_traceCnt >= 0) s_traceCnt++;
|
||||
}
|
||||
#endif
|
||||
|
||||
s_cnt_samples_thr_1s = 0;
|
||||
s_sum_samples_thr_1s = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(DSM2)
|
||||
static uint8_t count_dsm_range = 0;
|
||||
if (dsm2Flag & (DSM2_BIND_FLAG | DSM2_RANGECHECK_FLAG)) {
|
||||
if (++count_dsm_range >= 200) {
|
||||
AUDIO_PLAY(AU_FRSKY_CHEEP);
|
||||
count_dsm_range = 0;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(PXX)
|
||||
static uint8_t count_pxx = 0;
|
||||
for (uint8_t i = 0; i < NUM_MODULES; i++) {
|
||||
if (pxxFlag[i] & (PXX_SEND_RANGECHECK | PXX_SEND_RXNUM)) {
|
||||
if (++count_pxx >= 250) {
|
||||
AUDIO_PLAY(AU_FRSKY_CHEEP);
|
||||
count_pxx = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(CPUARM)
|
||||
checkTrims();
|
||||
#endif
|
||||
}
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
}
|
||||
|
||||
#define TIME_TO_WRITE() (s_eeDirtyMsk && (tmr10ms_t)(get_tmr10ms() - s_eeDirtyTime10ms) >= (tmr10ms_t)WRITE_DELAY_10MS)
|
||||
|
||||
|
|
@ -2739,7 +3074,7 @@ void instantTrim()
|
|||
for (uint8_t i=0; i<NUM_STICKS; i++) {
|
||||
if (i!=THR_STICK) {
|
||||
// don't instant trim the throttle stick
|
||||
uint8_t trim_phase = getTrimFlightPhase(s_perout_flight_mode, i);
|
||||
uint8_t trim_phase = getTrimFlightPhase(s_current_mixer_flight_mode, i);
|
||||
#if defined(PCBTARANIS)
|
||||
int16_t trim = limit<int16_t>(TRIM_EXTENDED_MIN, (calibratedStick[i] + trims[i]) / 2, TRIM_EXTENDED_MAX);
|
||||
#else
|
||||
|
|
@ -2757,7 +3092,7 @@ void copyTrimsToOffset(uint8_t ch)
|
|||
{
|
||||
pauseMixerCalculations();
|
||||
int32_t zero = (int32_t)channelOutputs[ch];
|
||||
perOut(e_perout_mode_nosticks+e_perout_mode_notrainer, 0);
|
||||
evalFlightModeMixes(e_perout_mode_nosticks+e_perout_mode_notrainer, 0);
|
||||
int32_t val = chans[ch];
|
||||
LimitData *ld = limitAddress(ch);
|
||||
limit_min_max_t lim = LIMIT_MAX(ld);
|
||||
|
|
@ -2781,12 +3116,12 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
|
|||
|
||||
pauseMixerCalculations();
|
||||
|
||||
perOut(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
|
||||
evalFlightModeMixes(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
|
||||
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
|
||||
zeros[i] = applyLimits(i, chans[i]);
|
||||
}
|
||||
|
||||
perOut(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
|
||||
evalFlightModeMixes(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
|
||||
|
||||
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
|
||||
int16_t output = applyLimits(i, chans[i]) - zeros[i];
|
||||
|
|
@ -2803,7 +3138,7 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
|
|||
// reset all trims, except throttle (if throttle trim)
|
||||
for (uint8_t i=0; i<NUM_STICKS; i++) {
|
||||
if (i!=THR_STICK || !g_model.thrTrim) {
|
||||
int16_t original_trim = getTrimValue(s_perout_flight_mode, i);
|
||||
int16_t original_trim = getTrimValue(s_current_mixer_flight_mode, i);
|
||||
for (uint8_t phase=0; phase<MAX_FLIGHT_MODES; phase++) {
|
||||
#if defined(PCBTARANIS)
|
||||
trim_t trim = getRawTrimValue(phase, i);
|
||||
|
|
@ -3028,9 +3363,8 @@ void mixerTask(void * pdata)
|
|||
uint16_t t0 = getTmr2MHz();
|
||||
|
||||
CoEnterMutexSection(mixerMutex);
|
||||
bool tick10ms = doMixerCalculations();
|
||||
doMixerCalculations();
|
||||
CoLeaveMutexSection(mixerMutex);
|
||||
if (tick10ms) checkTrims();
|
||||
|
||||
#if defined(FRSKY) || defined(MAVLINK)
|
||||
telemetryWakeup();
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue