src/main/flight/mixer_init.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/build_config.h"
  28 #include "build/debug.h"
  29
  30 #include "common/maths.h"
  31
  32 #include "config/config.h"
  33 #include "config/feature.h"
  34
  35 #include "drivers/dshot.h"
  36
  37 #include "fc/controlrate_profile.h"
  38 #include "fc/runtime_config.h"
  39
  40 #include "mixer.h"
  41 #include "flight/mixer_tricopter.h"
  42 #include "flight/pid.h"
  43
  44 #include "rx/rx.h"
  45
  46 #include "sensors/battery.h"
  47
  48 #include "mixer_init.h"
  49
  50 PG_REGISTER_WITH_RESET_FN(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 1);
  51
  52 void pgResetFn_mixerConfig(mixerConfig_t *mixerConfig)
  53 {
  54     mixerConfig->mixerMode = DEFAULT_MIXER;
  55     mixerConfig->yaw_motors_reversed = false;
  56     mixerConfig->crashflip_motor_percent = 0;
  57 #ifdef USE_RACE_PRO
  58     mixerConfig->crashflip_rate = 30;
  59 #else
  60     mixerConfig->crashflip_rate = 0;
  61 #endif
  62     mixerConfig->mixer_type = MIXER_LEGACY;
  63 #ifdef USE_RPM_LIMIT
  64     mixerConfig->rpm_limit = false;
  65     mixerConfig->rpm_limit_p = 25;
  66     mixerConfig->rpm_limit_i = 10;
  67     mixerConfig->rpm_limit_d = 8;
  68     mixerConfig->rpm_limit_value = 18000;
  69 #endif
  70 }
  71
  72 PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
  73
  74 mixerMode_e currentMixerMode;
  75
  76 static const motorMixer_t mixerQuadX[] = {
  77     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
  78     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
  79     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
  80     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
  81 };
  82 #ifndef USE_QUAD_MIXER_ONLY
  83 static const motorMixer_t mixerTricopter[] = {
  84     { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
  85     { 1.0f, -1.0f, -0.666667f,  0.0f },     // RIGHT
  86     { 1.0f,  1.0f, -0.666667f,  0.0f },     // LEFT
  87 };
  88
  89 static const motorMixer_t mixerQuadP[] = {
  90     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
  91     { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
  92     { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
  93     { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
  94 };
  95
  96 #if defined(USE_UNCOMMON_MIXERS)
  97 static const motorMixer_t mixerBicopter[] = {
  98     { 1.0f,  1.0f,  0.0f,  0.0f },          // LEFT
  99     { 1.0f, -1.0f,  0.0f,  0.0f },          // RIGHT
 100 };
 101 #else
 102 #define mixerBicopter NULL
 103 #endif
 104
 105 static const motorMixer_t mixerY4[] = {
 106     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR_TOP CW
 107     { 1.0f, -1.0f, -1.0f,  0.0f },          // FRONT_R CCW
 108     { 1.0f,  0.0f,  1.0f,  1.0f },          // REAR_BOTTOM CCW
 109     { 1.0f,  1.0f, -1.0f,  0.0f },          // FRONT_L CW
 110 };
 111
 112
 113 #if (MAX_SUPPORTED_MOTORS >= 6)
 114 static const motorMixer_t mixerHex6X[] = {
 115     { 1.0f, -0.5f,  0.866025f,  1.0f },     // REAR_R
 116     { 1.0f, -0.5f, -0.866025f,  1.0f },     // FRONT_R
 117     { 1.0f,  0.5f,  0.866025f, -1.0f },     // REAR_L
 118     { 1.0f,  0.5f, -0.866025f, -1.0f },     // FRONT_L
 119     { 1.0f, -1.0f,  0.0f,      -1.0f },     // RIGHT
 120     { 1.0f,  1.0f,  0.0f,       1.0f },     // LEFT
 121 };
 122
 123 #if defined(USE_UNCOMMON_MIXERS)
 124 static const motorMixer_t mixerHex6H[] = {
 125     { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
 126     { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
 127     { 1.0f,  1.0f,  1.0f,  1.0f },     // REAR_L
 128     { 1.0f,  1.0f, -1.0f, -1.0f },     // FRONT_L
 129     { 1.0f,  0.0f,  0.0f,  0.0f },     // RIGHT
 130     { 1.0f,  0.0f,  0.0f,  0.0f },     // LEFT
 131 };
 132
 133 static const motorMixer_t mixerHex6P[] = {
 134     { 1.0f, -0.866025f,  0.5f,  1.0f },     // REAR_R
 135     { 1.0f, -0.866025f, -0.5f, -1.0f },     // FRONT_R
 136     { 1.0f,  0.866025f,  0.5f,  1.0f },     // REAR_L
 137     { 1.0f,  0.866025f, -0.5f, -1.0f },     // FRONT_L
 138     { 1.0f,  0.0f,      -1.0f,  1.0f },     // FRONT
 139     { 1.0f,  0.0f,       1.0f, -1.0f },     // REAR
 140 };
 141 static const motorMixer_t mixerY6[] = {
 142     { 1.0f,  0.0f,  1.333333f,  1.0f },     // REAR
 143     { 1.0f, -1.0f, -0.666667f, -1.0f },     // RIGHT
 144     { 1.0f,  1.0f, -0.666667f, -1.0f },     // LEFT
 145     { 1.0f,  0.0f,  1.333333f, -1.0f },     // UNDER_REAR
 146     { 1.0f, -1.0f, -0.666667f,  1.0f },     // UNDER_RIGHT
 147     { 1.0f,  1.0f, -0.666667f,  1.0f },     // UNDER_LEFT
 148 };
 149 #else
 150 #define mixerHex6H NULL
 151 #define mixerHex6P NULL
 152 #define mixerY6 NULL
 153 #endif // USE_UNCOMMON_MIXERS
 154 #else
 155 #define mixerHex6X NULL
 156 #endif // MAX_SUPPORTED_MOTORS >= 6
 157
 158 #if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
 159 static const motorMixer_t mixerOctoX8[] = {
 160     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 161     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 162     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 163     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 164     { 1.0f, -1.0f,  1.0f,  1.0f },          // UNDER_REAR_R
 165     { 1.0f, -1.0f, -1.0f, -1.0f },          // UNDER_FRONT_R
 166     { 1.0f,  1.0f,  1.0f, -1.0f },          // UNDER_REAR_L
 167     { 1.0f,  1.0f, -1.0f,  1.0f },          // UNDER_FRONT_L
 168 };
 169
 170 static const motorMixer_t mixerOctoX8P[] = {
 171     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
 172     { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
 173     { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
 174     { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
 175     { 1.0f,  0.0f,  1.0f,  1.0f },          // UNDER_REAR
 176     { 1.0f, -1.0f,  0.0f, -1.0f },          // UNDER_RIGHT
 177     { 1.0f,  1.0f,  0.0f, -1.0f },          // UNDER_LEFT
 178     { 1.0f,  0.0f, -1.0f,  1.0f },          // UNDER_FRONT
 179 };
 180
 181 static const motorMixer_t mixerOctoFlatP[] = {
 182     { 1.0f,  0.707107f, -0.707107f,  1.0f },    // FRONT_L
 183     { 1.0f, -0.707107f, -0.707107f,  1.0f },    // FRONT_R
 184     { 1.0f, -0.707107f,  0.707107f,  1.0f },    // REAR_R
 185     { 1.0f,  0.707107f,  0.707107f,  1.0f },    // REAR_L
 186     { 1.0f,  0.0f, -1.0f, -1.0f },              // FRONT
 187     { 1.0f, -1.0f,  0.0f, -1.0f },              // RIGHT
 188     { 1.0f,  0.0f,  1.0f, -1.0f },              // REAR
 189     { 1.0f,  1.0f,  0.0f, -1.0f },              // LEFT
 190 };
 191
 192 static const motorMixer_t mixerOctoFlatX[] = {
 193     { 1.0f,  1.0f, -0.414178f,  1.0f },      // MIDFRONT_L
 194     { 1.0f, -0.414178f, -1.0f,  1.0f },      // FRONT_R
 195     { 1.0f, -1.0f,  0.414178f,  1.0f },      // MIDREAR_R
 196     { 1.0f,  0.414178f,  1.0f,  1.0f },      // REAR_L
 197     { 1.0f,  0.414178f, -1.0f, -1.0f },      // FRONT_L
 198     { 1.0f, -1.0f, -0.414178f, -1.0f },      // MIDFRONT_R
 199     { 1.0f, -0.414178f,  1.0f, -1.0f },      // REAR_R
 200     { 1.0f,  1.0f,  0.414178f, -1.0f },      // MIDREAR_L
 201 };
 202 #else
 203 #define mixerOctoX8 NULL
 204 #define mixerOctoX8P NULL
 205 #define mixerOctoFlatP NULL
 206 #define mixerOctoFlatX NULL
 207 #endif
 208
 209 static const motorMixer_t mixerVtail4[] = {
 210     { 1.0f,  -0.58f,  0.58f, 1.0f },        // REAR_R
 211     { 1.0f,  -0.46f, -0.39f, -0.5f },       // FRONT_R
 212     { 1.0f,  0.58f,  0.58f, -1.0f },        // REAR_L
 213     { 1.0f,  0.46f, -0.39f, 0.5f },         // FRONT_L
 214 };
 215
 216 static const motorMixer_t mixerAtail4[] = {
 217     { 1.0f, -0.58f,  0.58f, -1.0f },          // REAR_R
 218     { 1.0f, -0.46f, -0.39f,  0.5f },          // FRONT_R
 219     { 1.0f,  0.58f,  0.58f,  1.0f },          // REAR_L
 220     { 1.0f,  0.46f, -0.39f, -0.5f },          // FRONT_L
 221 };
 222
 223 #if defined(USE_UNCOMMON_MIXERS)
 224 static const motorMixer_t mixerDualcopter[] = {
 225     { 1.0f,  0.0f,  0.0f, -1.0f },          // LEFT
 226     { 1.0f,  0.0f,  0.0f,  1.0f },          // RIGHT
 227 };
 228 #else
 229 #define mixerDualcopter NULL
 230 #endif
 231
 232 static const motorMixer_t mixerSingleProp[] = {
 233     { 1.0f,  0.0f,  0.0f, 0.0f },
 234 };
 235
 236 static const motorMixer_t mixerQuadX1234[] = {
 237     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 238     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 239     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 240     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 241 };
 242
 243 // Keep synced with mixerMode_e
 244 // Some of these entries are bogus when servos (USE_SERVOS) are not configured,
 245 // but left untouched to keep ordinals synced with mixerMode_e (and configurator).
 246 const mixer_t mixers[] = {
 247     // motors, use servo, motor mixer
 248     { 0, false, NULL },                // entry 0
 249     { 3, true,  mixerTricopter },      // MIXER_TRI
 250     { 4, false, mixerQuadP },          // MIXER_QUADP
 251     { 4, false, mixerQuadX },          // MIXER_QUADX
 252     { 2, true,  mixerBicopter },       // MIXER_BICOPTER
 253     { 0, true,  NULL },                // * MIXER_GIMBAL
 254     { 6, false, mixerY6 },             // MIXER_Y6
 255     { 6, false, mixerHex6P },          // MIXER_HEX6
 256     { 1, true,  mixerSingleProp },     // * MIXER_FLYING_WING
 257     { 4, false, mixerY4 },             // MIXER_Y4
 258     { 6, false, mixerHex6X },          // MIXER_HEX6X
 259     { 8, false, mixerOctoX8 },         // MIXER_OCTOX8
 260     { 8, false, mixerOctoFlatP },      // MIXER_OCTOFLATP
 261     { 8, false, mixerOctoFlatX },      // MIXER_OCTOFLATX
 262     { 1, true,  mixerSingleProp },     // * MIXER_AIRPLANE
 263     { 1, true,  mixerSingleProp },     // * MIXER_HELI_120_CCPM
 264     { 0, true,  NULL },                // * MIXER_HELI_90_DEG
 265     { 4, false, mixerVtail4 },         // MIXER_VTAIL4
 266     { 6, false, mixerHex6H },          // MIXER_HEX6H
 267     { 0, true,  NULL },                // * MIXER_PPM_TO_SERVO
 268     { 2, true,  mixerDualcopter },     // MIXER_DUALCOPTER
 269     { 1, true,  NULL },                // MIXER_SINGLECOPTER
 270     { 4, false, mixerAtail4 },         // MIXER_ATAIL4
 271     { 0, false, NULL },                // MIXER_CUSTOM
 272     { 2, true,  NULL },                // MIXER_CUSTOM_AIRPLANE
 273     { 3, true,  NULL },                // MIXER_CUSTOM_TRI
 274     { 4, false, mixerQuadX1234 },      // MIXER_QUADX_1234
 275     { 8, false, mixerOctoX8P },        // MIXER_OCTOX8P
 276 };
 277 #endif // !USE_QUAD_MIXER_ONLY
 278
 279 FAST_DATA_ZERO_INIT mixerRuntime_t mixerRuntime;
 280
 281 bool hasServos(void)
 282 {
 283     return mixers[currentMixerMode].useServo;
 284 }
 285
 286 uint8_t getMotorCount(void)
 287 {
 288     return mixerRuntime.motorCount;
 289 }
 290
 291 bool areMotorsRunning(void)
 292 {
 293     bool motorsRunning = false;
 294     if (ARMING_FLAG(ARMED)) {
 295         motorsRunning = true;
 296     } else {
 297         for (int i = 0; i < mixerRuntime.motorCount; i++) {
 298             if (motor_disarmed[i] != mixerRuntime.disarmMotorOutput) {
 299                 motorsRunning = true;
 300                 break;
 301             }
 302         }
 303     }
 304     return motorsRunning;
 305 }
 306
 307 bool areMotorsSaturated(void)
 308 {
 309     for (int i = 0; i < getMotorCount(); i++) {
 310         if (motor[i] >= motorConfig()->maxthrottle) {
 311             return true;
 312         }
 313     }
 314     return false;
 315 }
 316
 317 #ifdef USE_SERVOS
 318 bool mixerIsTricopter(void)
 319 {
 320     return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
 321 }
 322 #endif
 323
 324 // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
 325 // DSHOT scaling is done to the actual dshot range
 326 void initEscEndpoints(void)
 327 {
 328     float motorOutputLimit = 1.0f;
 329     if (currentPidProfile->motor_output_limit < 100) {
 330         motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
 331     }
 332     motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
 333 }
 334
 335 // Initialize pidProfile related mixer settings
 336
 337 void mixerInitProfile(void)
 338 {
 339 #ifdef USE_DYN_IDLE
 340     if (useDshotTelemetry) {
 341         mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
 342     } else {
 343         mixerRuntime.dynIdleMinRps = 0.0f;
 344     }
 345     mixerRuntime.dynIdlePGain = currentPidProfile->dyn_idle_p_gain * 0.00015f;
 346     mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
 347     mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
 348     mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
 349     // before takeoff, use the static idle value as the dynamic idle limit.
 350     // whoop users should first adjust static idle to ensure reliable motor start before enabling dynamic idle
 351     mixerRuntime.dynIdleStartIncrease = motorConfig()->motorIdle * 0.0001f;
 352     mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
 353     if (!mixerRuntime.feature3dEnabled && mixerRuntime.dynIdleMinRps) {
 354         mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive
 355     }
 356 #endif
 357
 358 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 359     mixerRuntime.vbatSagCompensationFactor = 0.0f;
 360     if (currentPidProfile->vbat_sag_compensation > 0 && !RPM_LIMIT_ACTIVE) {
 361         //TODO: Make this voltage user configurable
 362         mixerRuntime.vbatFull = CELL_VOLTAGE_FULL_CV;
 363         mixerRuntime.vbatRangeToCompensate = mixerRuntime.vbatFull - batteryConfig()->vbatwarningcellvoltage;
 364         if (mixerRuntime.vbatRangeToCompensate > 0) {
 365             mixerRuntime.vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
 366         }
 367     }
 368 #endif
 369
 370 #ifdef USE_RPM_LIMIT
 371     mixerRuntime.rpmLimiterRpmLimit = mixerConfig()->rpm_limit_value;
 372     mixerRuntime.rpmLimiterPGain = mixerConfig()->rpm_limit_p * 15e-6f;
 373     mixerRuntime.rpmLimiterIGain = mixerConfig()->rpm_limit_i * 1e-3f * pidGetDT();
 374     mixerRuntime.rpmLimiterDGain = mixerConfig()->rpm_limit_d * 3e-7f * pidGetPidFrequency();
 375     mixerRuntime.rpmLimiterI = 0.0;
 376     pt1FilterInit(&mixerRuntime.rpmLimiterAverageRpmFilter, pt1FilterGain(6.0f, pidGetDT()));
 377     pt1FilterInit(&mixerRuntime.rpmLimiterThrottleScaleOffsetFilter, pt1FilterGain(2.0f, pidGetDT()));
 378     mixerResetRpmLimiter();
 379 #endif
 380
 381     mixerRuntime.ezLandingThreshold = 2.0f * currentPidProfile->ez_landing_threshold / 100.0f;
 382     mixerRuntime.ezLandingLimit = currentPidProfile->ez_landing_limit / 100.0f;
 383     mixerRuntime.ezLandingSpeed = 2.0f * currentPidProfile->ez_landing_speed / 10.0f;
 384 }
 385
 386 #ifdef USE_RPM_LIMIT
 387 void mixerResetRpmLimiter(void)
 388 {
 389     mixerRuntime.rpmLimiterI = 0.0;
 390     mixerRuntime.rpmLimiterThrottleScale = constrainf(mixerRuntime.rpmLimiterRpmLimit / motorEstimateMaxRpm(), 0.0f, 1.0f);
 391     mixerRuntime.rpmLimiterInitialThrottleScale = mixerRuntime.rpmLimiterThrottleScale;
 392 }
 393
 394 #endif // USE_RPM_LIMIT
 395
 396 #ifdef USE_LAUNCH_CONTROL
 397 // Create a custom mixer for launch control based on the current settings
 398 // but disable the front motors. We don't care about roll or yaw because they
 399 // are limited in the PID controller.
 400 void loadLaunchControlMixer(void)
 401 {
 402     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 403         mixerRuntime.launchControlMixer[i] = mixerRuntime.currentMixer[i];
 404         // limit the front motors to minimum output
 405         if (mixerRuntime.launchControlMixer[i].pitch < 0.0f) {
 406             mixerRuntime.launchControlMixer[i].pitch = 0.0f;
 407             mixerRuntime.launchControlMixer[i].throttle = 0.0f;
 408         }
 409     }
 410 }
 411 #endif
 412
 413 #ifndef USE_QUAD_MIXER_ONLY
 414
 415 static void mixerConfigureOutput(void)
 416 {
 417     mixerRuntime.motorCount = 0;
 418
 419     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
 420         // load custom mixer into currentMixer
 421         for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 422             // check if done
 423             if (customMotorMixer(i)->throttle == 0.0f) {
 424                 break;
 425             }
 426             mixerRuntime.currentMixer[i] = *customMotorMixer(i);
 427             mixerRuntime.motorCount++;
 428         }
 429     } else {
 430         mixerRuntime.motorCount = mixers[currentMixerMode].motorCount;
 431         if (mixerRuntime.motorCount > MAX_SUPPORTED_MOTORS) {
 432             mixerRuntime.motorCount = MAX_SUPPORTED_MOTORS;
 433         }
 434         // copy motor-based mixers
 435         if (mixers[currentMixerMode].motor) {
 436             for (int i = 0; i < mixerRuntime.motorCount; i++)
 437                 mixerRuntime.currentMixer[i] = mixers[currentMixerMode].motor[i];
 438         }
 439     }
 440 #ifdef USE_LAUNCH_CONTROL
 441     loadLaunchControlMixer();
 442 #endif
 443     mixerResetDisarmedMotors();
 444 }
 445
 446 void mixerLoadMix(int index, motorMixer_t *customMixers)
 447 {
 448     // we're 1-based
 449     index++;
 450     // clear existing
 451     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 452         customMixers[i].throttle = 0.0f;
 453     }
 454     // do we have anything here to begin with?
 455     if (mixers[index].motor != NULL) {
 456         for (int i = 0; i < mixers[index].motorCount; i++) {
 457             customMixers[i] = mixers[index].motor[i];
 458         }
 459     }
 460 }
 461 #else
 462 static void mixerConfigureOutput(void)
 463 {
 464     mixerRuntime.motorCount = QUAD_MOTOR_COUNT;
 465     for (int i = 0; i < mixerRuntime.motorCount; i++) {
 466         mixerRuntime.currentMixer[i] = mixerQuadX[i];
 467     }
 468 #ifdef USE_LAUNCH_CONTROL
 469     loadLaunchControlMixer();
 470 #endif
 471     mixerResetDisarmedMotors();
 472 }
 473 #endif // USE_QUAD_MIXER_ONLY
 474
 475 void mixerInit(mixerMode_e mixerMode)
 476 {
 477     currentMixerMode = mixerMode;
 478
 479     mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
 480
 481     initEscEndpoints();
 482 #ifdef USE_SERVOS
 483     if (mixerIsTricopter()) {
 484         mixerTricopterInit();
 485     }
 486 #endif
 487
 488 #ifdef USE_DYN_IDLE
 489     mixerRuntime.dynIdleI = 0.0f;
 490     mixerRuntime.prevMinRps = 0.0f;
 491 #endif
 492
 493     mixerConfigureOutput();
 494 }
 495
 496 void mixerResetDisarmedMotors(void)
 497 {
 498     // set disarmed motor values
 499     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 500         motor_disarmed[i] = mixerRuntime.disarmMotorOutput;
 501     }
 502 }
 503
 504 mixerMode_e getMixerMode(void)
 505 {
 506     return currentMixerMode;
 507 }
 508
 509 bool mixerModeIsFixedWing(mixerMode_e mixerMode)
 510 {
 511     switch (mixerMode) {
 512     case MIXER_FLYING_WING:
 513     case MIXER_AIRPLANE:
 514     case MIXER_CUSTOM_AIRPLANE:
 515         return true;
 516         break;
 517     default:
 518         return false;
 519         break;
 520     }
 521 }
 522
 523 bool isFixedWing(void)
 524 {
 525     return mixerModeIsFixedWing(currentMixerMode);
 526 }
 527
 528 float getMotorOutputLow(void)
 529 {
 530     return mixerRuntime.motorOutputLow;
 531 }
 532
 533 float getMotorOutputHigh(void)
 534 {
 535     return mixerRuntime.motorOutputHigh;
 536 }