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 #if (MAX_SUPPORTED_MOTORS >= 6)
 113 static const motorMixer_t mixerHex6X[] = {
 114     { 1.0f, -0.5f,  0.866025f,  1.0f },     // REAR_R
 115     { 1.0f, -0.5f, -0.866025f,  1.0f },     // FRONT_R
 116     { 1.0f,  0.5f,  0.866025f, -1.0f },     // REAR_L
 117     { 1.0f,  0.5f, -0.866025f, -1.0f },     // FRONT_L
 118     { 1.0f, -1.0f,  0.0f,      -1.0f },     // RIGHT
 119     { 1.0f,  1.0f,  0.0f,       1.0f },     // LEFT
 120 };
 121
 122 #if defined(USE_UNCOMMON_MIXERS)
 123 static const motorMixer_t mixerHex6H[] = {
 124     { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
 125     { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
 126     { 1.0f,  1.0f,  1.0f,  1.0f },     // REAR_L
 127     { 1.0f,  1.0f, -1.0f, -1.0f },     // FRONT_L
 128     { 1.0f,  0.0f,  0.0f,  0.0f },     // RIGHT
 129     { 1.0f,  0.0f,  0.0f,  0.0f },     // LEFT
 130 };
 131
 132 static const motorMixer_t mixerHex6P[] = {
 133     { 1.0f, -0.866025f,  0.5f,  1.0f },     // REAR_R
 134     { 1.0f, -0.866025f, -0.5f, -1.0f },     // FRONT_R
 135     { 1.0f,  0.866025f,  0.5f,  1.0f },     // REAR_L
 136     { 1.0f,  0.866025f, -0.5f, -1.0f },     // FRONT_L
 137     { 1.0f,  0.0f,      -1.0f,  1.0f },     // FRONT
 138     { 1.0f,  0.0f,       1.0f, -1.0f },     // REAR
 139 };
 140 static const motorMixer_t mixerY6[] = {
 141     { 1.0f,  0.0f,  1.333333f,  1.0f },     // REAR
 142     { 1.0f, -1.0f, -0.666667f, -1.0f },     // RIGHT
 143     { 1.0f,  1.0f, -0.666667f, -1.0f },     // LEFT
 144     { 1.0f,  0.0f,  1.333333f, -1.0f },     // UNDER_REAR
 145     { 1.0f, -1.0f, -0.666667f,  1.0f },     // UNDER_RIGHT
 146     { 1.0f,  1.0f, -0.666667f,  1.0f },     // UNDER_LEFT
 147 };
 148 #else
 149 #define mixerHex6H NULL
 150 #define mixerHex6P NULL
 151 #define mixerY6 NULL
 152 #endif // USE_UNCOMMON_MIXERS
 153 #else
 154 #define mixerHex6X NULL
 155 #endif // MAX_SUPPORTED_MOTORS >= 6
 156
 157 #if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
 158 static const motorMixer_t mixerOctoX8[] = {
 159     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 160     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 161     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 162     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 163     { 1.0f, -1.0f,  1.0f,  1.0f },          // UNDER_REAR_R
 164     { 1.0f, -1.0f, -1.0f, -1.0f },          // UNDER_FRONT_R
 165     { 1.0f,  1.0f,  1.0f, -1.0f },          // UNDER_REAR_L
 166     { 1.0f,  1.0f, -1.0f,  1.0f },          // UNDER_FRONT_L
 167 };
 168
 169 static const motorMixer_t mixerOctoX8P[] = {
 170     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
 171     { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
 172     { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
 173     { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
 174     { 1.0f,  0.0f,  1.0f,  1.0f },          // UNDER_REAR
 175     { 1.0f, -1.0f,  0.0f, -1.0f },          // UNDER_RIGHT
 176     { 1.0f,  1.0f,  0.0f, -1.0f },          // UNDER_LEFT
 177     { 1.0f,  0.0f, -1.0f,  1.0f },          // UNDER_FRONT
 178 };
 179
 180 static const motorMixer_t mixerOctoFlatP[] = {
 181     { 1.0f,  0.707107f, -0.707107f,  1.0f },    // FRONT_L
 182     { 1.0f, -0.707107f, -0.707107f,  1.0f },    // FRONT_R
 183     { 1.0f, -0.707107f,  0.707107f,  1.0f },    // REAR_R
 184     { 1.0f,  0.707107f,  0.707107f,  1.0f },    // REAR_L
 185     { 1.0f,  0.0f, -1.0f, -1.0f },              // FRONT
 186     { 1.0f, -1.0f,  0.0f, -1.0f },              // RIGHT
 187     { 1.0f,  0.0f,  1.0f, -1.0f },              // REAR
 188     { 1.0f,  1.0f,  0.0f, -1.0f },              // LEFT
 189 };
 190
 191 static const motorMixer_t mixerOctoFlatX[] = {
 192     { 1.0f,  1.0f, -0.414178f,  1.0f },      // MIDFRONT_L
 193     { 1.0f, -0.414178f, -1.0f,  1.0f },      // FRONT_R
 194     { 1.0f, -1.0f,  0.414178f,  1.0f },      // MIDREAR_R
 195     { 1.0f,  0.414178f,  1.0f,  1.0f },      // REAR_L
 196     { 1.0f,  0.414178f, -1.0f, -1.0f },      // FRONT_L
 197     { 1.0f, -1.0f, -0.414178f, -1.0f },      // MIDFRONT_R
 198     { 1.0f, -0.414178f,  1.0f, -1.0f },      // REAR_R
 199     { 1.0f,  1.0f,  0.414178f, -1.0f },      // MIDREAR_L
 200 };
 201 #else
 202 #define mixerOctoX8 NULL
 203 #define mixerOctoX8P NULL
 204 #define mixerOctoFlatP NULL
 205 #define mixerOctoFlatX NULL
 206 #endif
 207
 208 static const motorMixer_t mixerVtail4[] = {
 209     { 1.0f,  -0.58f,  0.58f, 1.0f },        // REAR_R
 210     { 1.0f,  -0.46f, -0.39f, -0.5f },       // FRONT_R
 211     { 1.0f,  0.58f,  0.58f, -1.0f },        // REAR_L
 212     { 1.0f,  0.46f, -0.39f, 0.5f },         // FRONT_L
 213 };
 214
 215 static const motorMixer_t mixerAtail4[] = {
 216     { 1.0f, -0.58f,  0.58f, -1.0f },          // REAR_R
 217     { 1.0f, -0.46f, -0.39f,  0.5f },          // FRONT_R
 218     { 1.0f,  0.58f,  0.58f,  1.0f },          // REAR_L
 219     { 1.0f,  0.46f, -0.39f, -0.5f },          // FRONT_L
 220 };
 221
 222 #if defined(USE_UNCOMMON_MIXERS)
 223 static const motorMixer_t mixerDualcopter[] = {
 224     { 1.0f,  0.0f,  0.0f, -1.0f },          // LEFT
 225     { 1.0f,  0.0f,  0.0f,  1.0f },          // RIGHT
 226 };
 227 #else
 228 #define mixerDualcopter NULL
 229 #endif
 230
 231 static const motorMixer_t mixerSingleProp[] = {
 232     { 1.0f,  0.0f,  0.0f, 0.0f },
 233 };
 234
 235 static const motorMixer_t mixerQuadX1234[] = {
 236     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 237     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 238     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 239     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 240 };
 241
 242 // Keep synced with mixerMode_e
 243 // Some of these entries are bogus when servos (USE_SERVOS) are not configured,
 244 // but left untouched to keep ordinals synced with mixerMode_e (and configurator).
 245 const mixer_t mixers[] = {
 246     // motors, use servo, motor mixer
 247     { 0, false, NULL },                // entry 0
 248     { 3, true,  mixerTricopter },      // MIXER_TRI
 249     { 4, false, mixerQuadP },          // MIXER_QUADP
 250     { 4, false, mixerQuadX },          // MIXER_QUADX
 251     { 2, true,  mixerBicopter },       // MIXER_BICOPTER
 252     { 0, true,  NULL },                // * MIXER_GIMBAL
 253     { 6, false, mixerY6 },             // MIXER_Y6
 254     { 6, false, mixerHex6P },          // MIXER_HEX6
 255     { 1, true,  mixerSingleProp },     // * MIXER_FLYING_WING
 256     { 4, false, mixerY4 },             // MIXER_Y4
 257     { 6, false, mixerHex6X },          // MIXER_HEX6X
 258     { 8, false, mixerOctoX8 },         // MIXER_OCTOX8
 259     { 8, false, mixerOctoFlatP },      // MIXER_OCTOFLATP
 260     { 8, false, mixerOctoFlatX },      // MIXER_OCTOFLATX
 261     { 1, true,  mixerSingleProp },     // * MIXER_AIRPLANE
 262     { 1, true,  mixerSingleProp },     // * MIXER_HELI_120_CCPM
 263     { 0, true,  NULL },                // * MIXER_HELI_90_DEG
 264     { 4, false, mixerVtail4 },         // MIXER_VTAIL4
 265     { 6, false, mixerHex6H },          // MIXER_HEX6H
 266     { 0, true,  NULL },                // * MIXER_PPM_TO_SERVO
 267     { 2, true,  mixerDualcopter },     // MIXER_DUALCOPTER
 268     { 1, true,  NULL },                // MIXER_SINGLECOPTER
 269     { 4, false, mixerAtail4 },         // MIXER_ATAIL4
 270     { 0, false, NULL },                // MIXER_CUSTOM
 271     { 2, true,  NULL },                // MIXER_CUSTOM_AIRPLANE
 272     { 3, true,  NULL },                // MIXER_CUSTOM_TRI
 273     { 4, false, mixerQuadX1234 },      // MIXER_QUADX_1234
 274     { 8, false, mixerOctoX8P },        // MIXER_OCTOX8P
 275 };
 276 #endif // !USE_QUAD_MIXER_ONLY
 277
 278 FAST_DATA_ZERO_INIT mixerRuntime_t mixerRuntime;
 279
 280 bool hasServos(void)
 281 {
 282     return mixers[currentMixerMode].useServo;
 283 }
 284
 285 uint8_t getMotorCount(void)
 286 {
 287     return mixerRuntime.motorCount;
 288 }
 289
 290 bool areMotorsRunning(void)
 291 {
 292     bool motorsRunning = false;
 293     if (ARMING_FLAG(ARMED)) {
 294         motorsRunning = true;
 295     } else {
 296         for (int i = 0; i < mixerRuntime.motorCount; i++) {
 297             if (motor_disarmed[i] != mixerRuntime.disarmMotorOutput) {
 298                 motorsRunning = true;
 299                 break;
 300             }
 301         }
 302     }
 303     return motorsRunning;
 304 }
 305
 306 bool areMotorsSaturated(void)
 307 {
 308     for (int i = 0; i < getMotorCount(); i++) {
 309         if (motor[i] >= motorConfig()->maxthrottle) {
 310             return true;
 311         }
 312     }
 313     return false;
 314 }
 315
 316 #ifdef USE_SERVOS
 317 bool mixerIsTricopter(void)
 318 {
 319     return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
 320 }
 321 #endif
 322
 323 // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
 324 // DSHOT scaling is done to the actual dshot range
 325 void initEscEndpoints(void)
 326 {
 327     float motorOutputLimit = 1.0f;
 328     if (currentPidProfile->motor_output_limit < 100) {
 329         motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
 330     }
 331     motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
 332 }
 333
 334 // Initialize pidProfile related mixer settings
 335
 336 void mixerInitProfile(void)
 337 {
 338 #ifdef USE_DYN_IDLE
 339     if (useDshotTelemetry) {
 340         mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
 341     } else {
 342         mixerRuntime.dynIdleMinRps = 0.0f;
 343     }
 344     mixerRuntime.dynIdlePGain = currentPidProfile->dyn_idle_p_gain * 0.00015f;
 345     mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
 346     mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
 347     mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
 348     // before takeoff, use the static idle value as the dynamic idle limit.
 349     // whoop users should first adjust static idle to ensure reliable motor start before enabling dynamic idle
 350     mixerRuntime.dynIdleStartIncrease = motorConfig()->motorIdle * 0.0001f;
 351     mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
 352     if (!mixerRuntime.feature3dEnabled && mixerRuntime.dynIdleMinRps) {
 353         mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive
 354     }
 355 #endif
 356
 357 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 358     mixerRuntime.vbatSagCompensationFactor = 0.0f;
 359     if (currentPidProfile->vbat_sag_compensation > 0 && !RPM_LIMIT_ACTIVE) {
 360         //TODO: Make this voltage user configurable
 361         mixerRuntime.vbatFull = CELL_VOLTAGE_FULL_CV;
 362         mixerRuntime.vbatRangeToCompensate = mixerRuntime.vbatFull - batteryConfig()->vbatwarningcellvoltage;
 363         if (mixerRuntime.vbatRangeToCompensate > 0) {
 364             mixerRuntime.vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
 365         }
 366     }
 367 #endif
 368
 369 #ifdef USE_RPM_LIMIT
 370     mixerRuntime.rpmLimiterRpmLimit = mixerConfig()->rpm_limit_value;
 371     mixerRuntime.rpmLimiterPGain = mixerConfig()->rpm_limit_p * 15e-6f;
 372     mixerRuntime.rpmLimiterIGain = mixerConfig()->rpm_limit_i * 1e-3f * pidGetDT();
 373     mixerRuntime.rpmLimiterDGain = mixerConfig()->rpm_limit_d * 3e-7f * pidGetPidFrequency();
 374     mixerRuntime.rpmLimiterI = 0.0;
 375     pt1FilterInit(&mixerRuntime.rpmLimiterAverageRpmFilter, pt1FilterGain(6.0f, pidGetDT()));
 376     pt1FilterInit(&mixerRuntime.rpmLimiterThrottleScaleOffsetFilter, pt1FilterGain(2.0f, pidGetDT()));
 377     mixerResetRpmLimiter();
 378 #endif
 379
 380     mixerRuntime.ezLandingThreshold = 2.0f * currentPidProfile->ez_landing_threshold / 100.0f;
 381     mixerRuntime.ezLandingLimit = currentPidProfile->ez_landing_limit / 100.0f;
 382     mixerRuntime.ezLandingSpeed = 2.0f * currentPidProfile->ez_landing_speed / 10.0f;
 383 }
 384
 385 #ifdef USE_RPM_LIMIT
 386 void mixerResetRpmLimiter(void)
 387 {
 388     mixerRuntime.rpmLimiterI = 0.0;
 389     mixerRuntime.rpmLimiterThrottleScale = constrainf(mixerRuntime.rpmLimiterRpmLimit / motorEstimateMaxRpm(), 0.0f, 1.0f);
 390     mixerRuntime.rpmLimiterInitialThrottleScale = mixerRuntime.rpmLimiterThrottleScale;
 391 }
 392
 393 #endif // USE_RPM_LIMIT
 394
 395 #ifdef USE_LAUNCH_CONTROL
 396 // Create a custom mixer for launch control based on the current settings
 397 // but disable the front motors. We don't care about roll or yaw because they
 398 // are limited in the PID controller.
 399 void loadLaunchControlMixer(void)
 400 {
 401     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 402         mixerRuntime.launchControlMixer[i] = mixerRuntime.currentMixer[i];
 403         // limit the front motors to minimum output
 404         if (mixerRuntime.launchControlMixer[i].pitch < 0.0f) {
 405             mixerRuntime.launchControlMixer[i].pitch = 0.0f;
 406             mixerRuntime.launchControlMixer[i].throttle = 0.0f;
 407         }
 408     }
 409 }
 410 #endif
 411
 412 #ifndef USE_QUAD_MIXER_ONLY
 413
 414 static void mixerConfigureOutput(void)
 415 {
 416     mixerRuntime.motorCount = 0;
 417
 418     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
 419         // load custom mixer into currentMixer
 420         for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 421             // check if done
 422             if (customMotorMixer(i)->throttle == 0.0f) {
 423                 break;
 424             }
 425             mixerRuntime.currentMixer[i] = *customMotorMixer(i);
 426             mixerRuntime.motorCount++;
 427         }
 428     } else {
 429         mixerRuntime.motorCount = mixers[currentMixerMode].motorCount;
 430         if (mixerRuntime.motorCount > MAX_SUPPORTED_MOTORS) {
 431             mixerRuntime.motorCount = MAX_SUPPORTED_MOTORS;
 432         }
 433         // copy motor-based mixers
 434         if (mixers[currentMixerMode].motor) {
 435             for (int i = 0; i < mixerRuntime.motorCount; i++)
 436                 mixerRuntime.currentMixer[i] = mixers[currentMixerMode].motor[i];
 437         }
 438     }
 439 #ifdef USE_LAUNCH_CONTROL
 440     loadLaunchControlMixer();
 441 #endif
 442     mixerResetDisarmedMotors();
 443 }
 444
 445 void mixerLoadMix(int index, motorMixer_t *customMixers)
 446 {
 447     // we're 1-based
 448     index++;
 449     // clear existing
 450     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 451         customMixers[i].throttle = 0.0f;
 452     }
 453     // do we have anything here to begin with?
 454     if (mixers[index].motor != NULL) {
 455         for (int i = 0; i < mixers[index].motorCount; i++) {
 456             customMixers[i] = mixers[index].motor[i];
 457         }
 458     }
 459 }
 460 #else
 461 static void mixerConfigureOutput(void)
 462 {
 463     mixerRuntime.motorCount = QUAD_MOTOR_COUNT;
 464     for (int i = 0; i < mixerRuntime.motorCount; i++) {
 465         mixerRuntime.currentMixer[i] = mixerQuadX[i];
 466     }
 467 #ifdef USE_LAUNCH_CONTROL
 468     loadLaunchControlMixer();
 469 #endif
 470     mixerResetDisarmedMotors();
 471 }
 472 #endif // USE_QUAD_MIXER_ONLY
 473
 474 void mixerInit(mixerMode_e mixerMode)
 475 {
 476     currentMixerMode = mixerMode;
 477
 478     mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
 479
 480     initEscEndpoints();
 481 #ifdef USE_SERVOS
 482     if (mixerIsTricopter()) {
 483         mixerTricopterInit();
 484     }
 485 #endif
 486
 487 #ifdef USE_DYN_IDLE
 488     mixerRuntime.dynIdleI = 0.0f;
 489     mixerRuntime.prevMinRps = 0.0f;
 490 #endif
 491
 492     mixerConfigureOutput();
 493 }
 494
 495 void mixerResetDisarmedMotors(void)
 496 {
 497     // set disarmed motor values
 498     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 499         motor_disarmed[i] = mixerRuntime.disarmMotorOutput;
 500     }
 501 }
 502
 503 mixerMode_e getMixerMode(void)
 504 {
 505     return currentMixerMode;
 506 }
 507
 508 bool mixerModeIsFixedWing(mixerMode_e mixerMode)
 509 {
 510     switch (mixerMode) {
 511     case MIXER_FLYING_WING:
 512     case MIXER_AIRPLANE:
 513     case MIXER_CUSTOM_AIRPLANE:
 514         return true;
 515         break;
 516     default:
 517         return false;
 518         break;
 519     }
 520 }
 521
 522 bool isFixedWing(void)
 523 {
 524     return mixerModeIsFixedWing(currentMixerMode);
 525 }
 526
 527 float getMotorOutputLow(void)
 528 {
 529     return mixerRuntime.motorOutputLow;
 530 }
 531
 532 float getMotorOutputHigh(void)
 533 {
 534     return mixerRuntime.motorOutputHigh;
 535 }