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#2032 fixed
This commit is contained in:
bsongis
parent
4a9c87cc9c
commit
88f85aef06
6 changed files with 280 additions and 124 deletions
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@ -37,7 +37,7 @@
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#include "opentx.h"
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#include "timers.h"
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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int8_t virtualInputsTrims[NUM_INPUTS];
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#else
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int16_t rawAnas[NUM_INPUTS] = {0};
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@ -67,7 +67,7 @@ int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMa
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void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
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{
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#if !defined(PCBTARANIS)
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#if !defined(VIRTUALINPUTS)
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int16_t anas2[NUM_INPUTS]; // values before expo, to ensure same expo base when multiple expo lines are used
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memcpy(anas2, anas, sizeof(anas2));
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#endif
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@ -85,7 +85,7 @@ void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
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if (ed->flightModes & (1<<mixerCurrentFlightMode))
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continue;
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if (getSwitch(ed->swtch)) {
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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int v;
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if (ed->srcRaw == ovwrIdx) {
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v = ovwrValue;
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@ -107,7 +107,7 @@ void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
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cur_chn = ed->chn;
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//========== CURVE=================
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#if defined(PCBTARANIS)
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#if defined(XCURVES)
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if (ed->curve.value) {
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v = applyCurve(v, ed->curve);
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}
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@ -126,7 +126,7 @@ void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
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weight = calc100to256(weight);
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v = ((int32_t)v * weight) >> 8;
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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//========== OFFSET ===============
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int16_t offset = GET_GVAR(ed->offset, -100, 100, mixerCurrentFlightMode);
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if (offset) v += calc100toRESX(offset);
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@ -243,13 +243,13 @@ getvalue_t getValue(mixsrc_t i)
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{
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if (i==MIXSRC_NONE) return 0;
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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else if (i <= MIXSRC_LAST_INPUT) {
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return anas[i-MIXSRC_FIRST_INPUT];
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}
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#endif
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#if defined(PCBTARANIS)
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#if defined(LUAINPUTS)
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else if (i<MIXSRC_LAST_LUA) {
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#if defined(LUA_MODEL_SCRIPTS)
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div_t qr = div(i-MIXSRC_FIRST_LUA, MAX_SCRIPT_OUTPUTS);
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@ -277,7 +277,14 @@ getvalue_t getValue(mixsrc_t i)
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else if (i<=MIXSRC_TrimAil) return calc1000toRESX((int16_t)8 * getTrimValue(mixerCurrentFlightMode, i-MIXSRC_TrimRud));
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#if defined(PCBTARANIS)
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#if defined(PCBTBS)
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else if (i==MIXSRC_SA) return (switchState(SW_SA0) ? -1024 : (switchState(SW_SA1) ? 0 : 1024));
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else if (i==MIXSRC_SB) return (switchState(SW_SB0) ? -1024 : 1024);
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else if (i==MIXSRC_SC) return (switchState(SW_SC0) ? -1024 : (switchState(SW_SC1) ? 0 : 1024));
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// else if (i==MIXSRC_SD) return (switchState(SW_SD0) ? -1024 : 1024);
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else if (i==MIXSRC_SE) return (switchState(SW_SE0) ? -1024 : 1024);
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else if (i==MIXSRC_SF) return (switchState(SW_SF0) ? -1024 : (switchState(SW_SF1) ? 0 : 1024));
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#elif defined(PCBTARANIS)
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else if (i==MIXSRC_SA) return (switchState(SW_SA0) ? -1024 : (switchState(SW_SA1) ? 0 : 1024));
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else if (i==MIXSRC_SB) return (switchState(SW_SB0) ? -1024 : (switchState(SW_SB1) ? 0 : 1024));
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else if (i==MIXSRC_SC) return (switchState(SW_SC0) ? -1024 : (switchState(SW_SC1) ? 0 : 1024));
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@ -401,7 +408,7 @@ void evalInputs(uint8_t mode)
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#if defined(HELI)
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uint16_t d = 0;
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if (g_model.swashR.value) {
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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int ele = (int16_t)anaIn(ELE_STICK);
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int ail = (int16_t)anaIn(AIL_STICK);
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uint32_t v = (ele*ele) + (ail*ail);
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@ -493,7 +500,7 @@ void evalInputs(uint8_t mode)
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}
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if (ch < NUM_STICKS) { //only do this for sticks
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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if (mode & e_perout_mode_nosticks) {
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v = 0;
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}
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@ -526,7 +533,7 @@ void evalInputs(uint8_t mode)
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}
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#endif
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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calibratedStick[ch] = v;
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#else
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rawAnas[ch] = v;
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@ -550,7 +557,7 @@ void evalInputs(uint8_t mode)
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}
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}
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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int getStickTrimValue(int stick)
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{
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int trim = trims[stick];
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@ -590,7 +597,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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#endif
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#if defined(HELI)
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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int heliEleValue = getValue(g_model.swashR.elevatorSource);
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int heliAilValue = getValue(g_model.swashR.aileronSource);
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#else
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@ -613,7 +620,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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#define REZ_SWASH_Y(x) ((x)) // 1024 => 1024
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if (g_model.swashR.type) {
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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getvalue_t vp = heliEleValue + getSourceTrimValue(g_model.swashR.elevatorSource);
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getvalue_t vr = heliAilValue + getSourceTrimValue(g_model.swashR.aileronSource);
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#else
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@ -624,9 +631,15 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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if (g_model.swashR.collectiveSource)
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vc = getValue(g_model.swashR.collectiveSource);
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#if defined(VIRTUALINPUTS)
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vp = (vp * g_model.swashR.elevatorWeight) / 100;
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vr = (vr * g_model.swashR.aileronWeight) / 100;
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vc = (vc * g_model.swashR.collectiveWeight) / 100;
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#else
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if (g_model.swashR.invertELE) vp = -vp;
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if (g_model.swashR.invertAIL) vr = -vr;
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if (g_model.swashR.invertCOL) vc = -vc;
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#endif
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switch (g_model.swashR.type) {
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case SWASH_TYPE_120:
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@ -705,7 +718,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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MIXER_LINE_DISABLE();
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}
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#if defined(PCBTARANIS) && defined(LUA_MODEL_SCRIPTS)
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#if defined(LUA_MODEL_SCRIPTS)
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// disable mixer if Lua script is used as source and script was killed
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if (mixEnabled && md->srcRaw >= MIXSRC_FIRST_LUA && md->srcRaw <= MIXSRC_LAST_LUA) {
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div_t qr = div(md->srcRaw-MIXSRC_FIRST_LUA, MAX_SCRIPT_OUTPUTS);
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@ -718,7 +731,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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//========== VALUE ===============
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getvalue_t v = 0;
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if (mode > e_perout_mode_inactive_flight_mode) {
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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if (!mixEnabled) {
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continue;
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}
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@ -735,7 +748,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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#endif
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}
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else {
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#if !defined(PCBTARANIS)
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#if !defined(VIRTUALINPUTS)
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if (stickIndex < NUM_STICKS) {
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v = md->noExpo ? rawAnas[stickIndex] : anas[stickIndex];
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}
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@ -804,7 +817,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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//========== TRIMS ================
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if (!(mode & e_perout_mode_notrims)) {
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#if defined(PCBTARANIS)
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#if defined(VIRTUALINPUTS)
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if (md->carryTrim == 0) {
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v += getSourceTrimValue(md->srcRaw);
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}
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@ -873,7 +886,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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}
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//========== CURVES ===============
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#if defined(PCBTARANIS)
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#if defined(XCURVES)
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if (apply_offset_and_curve && md->curve.value) {
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v = applyCurve(v, md->curve);
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}
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@ -893,7 +906,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
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}
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//========== DIFFERENTIAL =========
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#if !defined(PCBTARANIS)
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#if !defined(XCURVES)
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if (md->curveMode == MODE_DIFFERENTIAL) {
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// @@@2 also recalculate curveParam to a 256 basis which ease the calculation later a lot
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int16_t curveParam = calc100to256(GET_GVAR(md->curveParam, -100, 100, mixerCurrentFlightMode));
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