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additional fixes for mixer profile #9363

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merged 2 commits into from
Oct 11, 2023
Merged

additional fixes for mixer profile #9363

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9847563
simplify the smix
shota3527 Oct 10, 2023
65fa493
mixer_profile rcmodes changes
shota3527 Oct 10, 2023
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2 changes: 2 additions & 0 deletions src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -727,6 +727,8 @@ void processRx(timeUs_t currentTimeUs)
} else {
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}
}else{
DISABLE_FLIGHT_MODE(MANUAL_MODE);
}

/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
Expand Down
11 changes: 6 additions & 5 deletions src/main/fc/fc_msp_box.c
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Expand Up @@ -202,7 +202,7 @@ void initActiveBoxIds(void)
//Camstab mode is enabled always
ADD_ACTIVE_BOX(BOXCAMSTAB);

if (STATE(MULTIROTOR)) {
if (STATE(MULTIROTOR) || platformTypeConfigured(PLATFORM_MULTIROTOR) || platformTypeConfigured(PLATFORM_TRICOPTER)) {
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG))) {
ADD_ACTIVE_BOX(BOXHEADFREE);
ADD_ACTIVE_BOX(BOXHEADADJ);
Expand Down Expand Up @@ -244,13 +244,13 @@ void initActiveBoxIds(void)
#endif
}

if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
ADD_ACTIVE_BOX(BOXSOARING);
}
}

#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || platformTypeConfigured(PLATFORM_MULTIROTOR)) {
ADD_ACTIVE_BOX(BOXBRAKING);
}
#endif
Expand All @@ -259,11 +259,12 @@ void initActiveBoxIds(void)
ADD_ACTIVE_BOX(BOXNAVALTHOLD);
}

if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT) ||
platformTypeConfigured(PLATFORM_AIRPLANE) || platformTypeConfigured(PLATFORM_ROVER) || platformTypeConfigured(PLATFORM_BOAT)) {
ADD_ACTIVE_BOX(BOXMANUAL);
}

if (STATE(AIRPLANE)) {
if (STATE(AIRPLANE) || platformTypeConfigured(PLATFORM_AIRPLANE)) {
if (!feature(FEATURE_FW_LAUNCH)) {
ADD_ACTIVE_BOX(BOXNAVLAUNCH);
}
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12 changes: 11 additions & 1 deletion src/main/flight/mixer_profile.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "fc/rc_modes.h"
#include "fc/cli.h"

#include "programming/logic_condition.h"
#include "navigation/navigation.h"
Expand Down Expand Up @@ -107,6 +108,14 @@ void setMixerProfileAT(void)
mixerProfileAT.transitionTransEndTime = mixerProfileAT.transitionStartTime + (timeMs_t)currentMixerConfig.switchTransitionTimer * 100;
}

bool platformTypeConfigured(flyingPlatformType_e platformType)
{
if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
return false;
}
return mixerConfigByIndex(nextProfileIndex)->platformType == platformType;
}

bool checkMixerATRequired(mixerProfileATRequest_e required_action)
{
//return false if mixerAT condition is not required or setting is not valid
Expand Down Expand Up @@ -187,8 +196,9 @@ bool checkMixerProfileHotSwitchAvalibility(void)
}

void outputProfileUpdateTask(timeUs_t currentTimeUs)
{
{
UNUSED(currentTimeUs);
if(cliMode) return;
bool mixerAT_inuse = mixerProfileAT.phase != MIXERAT_PHASE_IDLE;
// transition mode input for servo mix and motor mix
if (!FLIGHT_MODE(FAILSAFE_MODE) && (!mixerAT_inuse))
Expand Down
1 change: 1 addition & 0 deletions src/main/flight/mixer_profile.h
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Expand Up @@ -71,6 +71,7 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
#define mixerMotorMixersByIndex(index) (mixerProfiles(index)->MotorMixers)
#define mixerServoMixersByIndex(index) (mixerProfiles(index)->ServoMixers)

bool platformTypeConfigured(flyingPlatformType_e platformType);
bool outputProfileHotSwitch(int profile_index);
bool checkMixerProfileHotSwitchAvalibility(void);
void activateMixerConfig(void);
Expand Down
2 changes: 1 addition & 1 deletion src/main/flight/pid.c
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Expand Up @@ -1130,7 +1130,7 @@ void FAST_CODE pidController(float dT)
canUseFpvCameraMix = false; // FPVANGLEMIX is incompatible with TURN_ASSISTANT
}

if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees) {
if (canUseFpvCameraMix && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && currentControlRateProfile->misc.fpvCamAngleDegrees && STATE(MULTIROTOR)) {
pidApplyFpvCameraAngleMix(pidState, currentControlRateProfile->misc.fpvCamAngleDegrees);
}

Expand Down
71 changes: 38 additions & 33 deletions src/main/flight/servos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -103,8 +103,14 @@ void pgResetFn_servoParams(servoParam_t *instance)
int16_t servo[MAX_SUPPORTED_SERVOS];

static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];

/*
//Was used to keep track of servo rules in all mixer_profile, In order to Apply mixer speed limit when rules turn off
static servoMixer_t currentServoMixer[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];
static bool currentServoMixerActivative[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];// if true, the rule is used by current servo mixer
static bool currentServoMixerActivative[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT]; // if true, the rule is used by current servo mixer
*/

static bool servoOutputEnabled;

static bool mixerUsesServos;
Expand All @@ -115,7 +121,7 @@ static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
static bool servoFilterIsSet;

static servoMetadata_t servoMetadata[MAX_SUPPORTED_SERVOS];
static rateLimitFilter_t servoSpeedLimitFilter[MAX_SERVO_RULES*MAX_MIXER_PROFILE_COUNT];
static rateLimitFilter_t servoSpeedLimitFilter[MAX_SERVO_RULES];

STATIC_FASTRAM pt1Filter_t rotRateFilter;
STATIC_FASTRAM pt1Filter_t targetRateFilter;
Expand Down Expand Up @@ -161,8 +167,27 @@ void servosInit(void)
}

int getServoCount(void)
{
if (servoRuleCount) {
{
bool servoRuleDetected = false;
minServoIndex = 0;
maxServoIndex = 255;
for (int j = 0; j < MAX_MIXER_PROFILE_COUNT; j++) {
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (mixerServoMixersByIndex(j)[i].rate == 0){
break;
}
if (mixerServoMixersByIndex(j)[i].targetChannel < minServoIndex) {
minServoIndex = mixerServoMixersByIndex(j)[i].targetChannel;
}

if (mixerServoMixersByIndex(j)[i].targetChannel > maxServoIndex) {
maxServoIndex = mixerServoMixersByIndex(j)[i].targetChannel;
}
servoRuleDetected = true;
}
}
if (servoRuleDetected) {
return 1 + maxServoIndex - minServoIndex;
}
else {
Expand All @@ -173,30 +198,17 @@ int getServoCount(void)
void loadCustomServoMixer(void)
{
servoRuleCount = 0;
minServoIndex = 255;
maxServoIndex = 0;
memset(currentServoMixer, 0, sizeof(currentServoMixer));

for (int j = 0; j < MAX_MIXER_PROFILE_COUNT; j++) {
const servoMixer_t* tmp_customServoMixers = &mixerServoMixersByIndex(j)[0];
// load custom mixer into currentServoMixer
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (tmp_customServoMixers[i].rate == 0)
break;

if (tmp_customServoMixers[i].targetChannel < minServoIndex) {
minServoIndex = tmp_customServoMixers[i].targetChannel;
}

if (tmp_customServoMixers[i].targetChannel > maxServoIndex) {
maxServoIndex = tmp_customServoMixers[i].targetChannel;
}

memcpy(&currentServoMixer[servoRuleCount], &tmp_customServoMixers[i], sizeof(servoMixer_t));
currentServoMixerActivative[servoRuleCount] = j==currentMixerProfileIndex;
servoRuleCount++;
// load custom mixer into currentServoMixer
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (customServoMixers(i)->rate == 0){
break;
}
currentServoMixer[servoRuleCount] = *customServoMixers(i);
servoSpeedLimitFilter[servoRuleCount].state = 0;
servoRuleCount++;
}
}

Expand Down Expand Up @@ -353,9 +365,6 @@ void servoMixer(float dT)
inputRaw = 0;
}
#endif
if (!currentServoMixerActivative[i]) {
inputRaw = 0;
}
/*
* Apply mixer speed limit. 1 [one] speed unit is defined as 10us/s:
* 0 = no limiting
Expand All @@ -369,7 +378,7 @@ void servoMixer(float dT)
}

/*
* When not armed, apply servo low position to all outputs that include a throttle or stabilizet throttle in the mix
* When not armed, apply servo low position to all outputs that include a throttle or stabilized throttle in the mix
*/
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < servoRuleCount; i++) {
Expand Down Expand Up @@ -438,7 +447,6 @@ void processServoAutotrimMode(void)
if (ARMING_FLAG(ARMED)) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
// Reset servo middle accumulator
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
Expand All @@ -461,7 +469,6 @@ void processServoAutotrimMode(void)
if (ARMING_FLAG(ARMED)) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {
Expand All @@ -474,7 +481,6 @@ void processServoAutotrimMode(void)
if ((millis() - trimStartedAt) > SERVO_AUTOTRIM_TIMER_MS) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {
Expand Down Expand Up @@ -508,7 +514,6 @@ void processServoAutotrimMode(void)
if (trimState == AUTOTRIM_SAVE_PENDING) {
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
for (int i = 0; i < servoRuleCount; i++) {
if (!currentServoMixerActivative[i]) {continue;}
const uint8_t target = currentServoMixer[i].targetChannel;
const uint8_t source = currentServoMixer[i].inputSource;
if (source == axis) {
Expand Down
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