void mixerConfigureOutput(void)
{
motorCount = 0;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMotorMixer(i)->throttle == 0.0f) {
break;
}
currentMixer[i] = *customMotorMixer(i);
motorCount++;
}
} else {
motorCount = mixers[currentMixerMode].motorCount;
if (motorCount > MAX_SUPPORTED_MOTORS) {
motorCount = MAX_SUPPORTED_MOTORS;
}
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (int i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
mixerResetDisarmedMotors();
}
void mixerConfigureOutput(void)
{
motorCount = QUAD_MOTOR_COUNT;
for (int i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerUsePWMIOConfiguration(void)
{
motorCount = 4;
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerUsePWMIOConfiguration(pwmIOConfiguration_t *pwmIOConfiguration)
{
UNUSED(pwmIOConfiguration);
motorCount = 4;
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerConfigureOutput(void)
{
syncMotorOutputWithPidLoop = pwmIsSynced();
motorCount = QUAD_MOTOR_COUNT;
for (uint8_t i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
{
UNUSED(pwmOutputConfiguration);
motorCount = 4;
#ifdef USE_SERVOS
servoCount = 0;
#endif
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
{
UNUSED(pwmOutputConfiguration);
syncPwmWithPidLoop = !use_unsyncedPwm;
motorCount = 4;
#ifdef USE_SERVOS
servoCount = 0;
#endif
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
void mixerConfigureOutput(void)
{
int i;
motorCount = 0;
syncMotorOutputWithPidLoop = pwmIsSynced();
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMixers[i].throttle == 0.0f)
break;
currentMixer[i] = customMixers[i];
motorCount++;
}
} else {
motorCount = mixers[currentMixerMode].motorCount;
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
}
}
}
mixerResetDisarmedMotors();
}
void mixerUsePWMIOConfiguration(pwmIOConfiguration_t *pwmIOConfiguration)
{
int i;
motorCount = 0;
servoCount = pwmIOConfiguration->servoCount;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
// check if done
if (customMixers[i].throttle == 0.0f)
break;
currentMixer[i] = customMixers[i];
motorCount++;
}
} else {
motorCount = mixers[currentMixerMode].motorCount;
// copy motor-based mixers
if (mixers[currentMixerMode].motor) {
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerMode].motor[i];
}
}
if (useServo) {
servoRuleCount = servoMixers[currentMixerMode].servoRuleCount;
if (servoMixers[currentMixerMode].rule) {
for (i = 0; i < servoRuleCount; i++)
currentServoMixer[i] = servoMixers[currentMixerMode].rule[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
}
}
}
// set flag that we're on something with wings
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE ||
currentMixerMode == MIXER_CUSTOM_AIRPLANE
) {
ENABLE_STATE(FIXED_WING);
if (currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
loadCustomServoMixer();
}
} else {
DISABLE_STATE(FIXED_WING);
if (currentMixerMode == MIXER_CUSTOM_TRI) {
loadCustomServoMixer();
}
}
mixerResetDisarmedMotors();
}
