void mixerInit(void)
{
int i;
// enable servos for mixes that require them. note, this shifts motor counts.
core.useServo = mixers[mcfg.mixerConfiguration].useServo;
// if we want camstab/trig or servo mixers, that also enables servos, even if mixerConfiguration doesn't
if (feature(FEATURE_SERVO_TILT) || feature(FEATURE_SERVO_MIXER))
core.useServo = 1;
if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) {
// load custom mixer into currentMixer
for (i = 0; i < MAX_MOTORS; i++) {
// check if done
if (mcfg.customMixer[i].throttle == 0.0f)
break;
currentMixer[i] = mcfg.customMixer[i];
numberMotor++;
}
} else {
numberMotor = mixers[mcfg.mixerConfiguration].numberMotor;
// copy motor-based mixers
if (mixers[mcfg.mixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++)
currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i];
}
}
if (core.useServo) {
numberRules = servoMixers[mcfg.mixerConfiguration].numberRules;
if (servoMixers[mcfg.mixerConfiguration].rule) {
for (i = 0; i < numberRules; i++)
currentServoMixer[i] = servoMixers[mcfg.mixerConfiguration].rule[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (numberMotor > 1) {
for (i = 0; i < numberMotor; 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 (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_CUSTOM_PLANE) {
f.FIXED_WING = 1;
} else
f.FIXED_WING = 0;
if (core.useServo)
loadCustomServoMixer();
mixerResetMotors();
}
static void cliExit(char *cmdline)
{
cliPrint("\r\nLeaving CLI mode...\r\n");
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase some idiot leaves a motor running during motortest, clear it here
mixerResetMotors();
// save and reboot... I think this makes the most sense
cliSave(cmdline);
}
static void cliExit(char *cmdline)
{
cliPrint("\r\nLeaving CLI mode...\r\n");
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase some idiot leaves a motor running during motortest, clear it here
mixerResetMotors();
// save and reboot... I think this makes the most sense - otherwise config changes can be out of sync, maybe just need to applyConfig and return?
#if 1
cliSave(cmdline);
#else
releaseSerialPort(cliPort, FUNCTION_CLI);
#endif
}