src/main/flight/mixer_profile.h

   1 #pragma once
   2
   3 #include "config/parameter_group.h"
   4 #include "flight/failsafe.h"
   5 #include "flight/mixer.h"
   6 #include "flight/servos.h"
   7
   8 #ifndef MAX_MIXER_PROFILE_COUNT
   9 #define MAX_MIXER_PROFILE_COUNT 2
  10 #endif
  11
  12 typedef struct mixerConfig_s {
  13     int8_t motorDirectionInverted;
  14     uint8_t platformType;
  15     bool hasFlaps;
  16     int16_t appliedMixerPreset;
  17     bool motorstopOnLow;
  18     bool PIDProfileLinking;
  19     bool automated_switch;
  20     int16_t switchTransitionTimer;
  21     bool tailsitterOrientationOffset;
  22 } mixerConfig_t;
  23 typedef struct mixerProfile_s {
  24     mixerConfig_t mixer_config;
  25     motorMixer_t MotorMixers[MAX_SUPPORTED_MOTORS];
  26     servoMixer_t ServoMixers[MAX_SERVO_RULES];
  27 } mixerProfile_t;
  28
  29 PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
  30 typedef enum {
  31     MIXERAT_REQUEST_NONE, //no request, stats checking only
  32     MIXERAT_REQUEST_RTH,
  33     MIXERAT_REQUEST_LAND,
  34     MIXERAT_REQUEST_ABORT,
  35 } mixerProfileATRequest_e;
  36
  37 //mixerProfile Automated Transition PHASE
  38 typedef enum {
  39     MIXERAT_PHASE_IDLE,
  40     MIXERAT_PHASE_TRANSITION_INITIALIZE,
  41     MIXERAT_PHASE_TRANSITIONING,
  42     MIXERAT_PHASE_DONE,
  43 } mixerProfileATState_e;
  44
  45 typedef struct mixerProfileAT_s {
  46     mixerProfileATState_e phase;
  47     bool transitionInputMixing;
  48     timeMs_t transitionStartTime;
  49     timeMs_t transitionStabEndTime;
  50     timeMs_t transitionTransEndTime;
  51 } mixerProfileAT_t;
  52 extern mixerProfileAT_t mixerProfileAT;
  53 bool checkMixerATRequired(mixerProfileATRequest_e required_action);
  54 bool mixerATUpdateState(mixerProfileATRequest_e required_action);
  55
  56 extern mixerConfig_t currentMixerConfig;
  57 extern int currentMixerProfileIndex;
  58 extern int nextMixerProfileIndex;
  59 extern bool isMixerTransitionMixing;
  60 #define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
  61 #define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())
  62
  63 #define primaryMotorMixer(_index) (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->MotorMixers)[_index])
  64 #define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
  65 #define customServoMixers(_index) (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->ServoMixers)[_index])
  66 #define customServoMixersMutable(_index) ((servoMixer_t *)customServoMixers(_index))
  67
  68 static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index) { return &mixerProfiles_CopyArray[_index]; }
  69 #define primaryMotorMixer_CopyArray() (mixerProfiles_CopyArray_by_index(systemConfig()->current_mixer_profile_index)->MotorMixers)
  70 #define customServoMixers_CopyArray() (mixerProfiles_CopyArray_by_index(systemConfig()->current_mixer_profile_index)->ServoMixers)
  71
  72 #define mixerConfigByIndex(index) (&(mixerProfiles(index)->mixer_config))
  73 #define mixerMotorMixersByIndex(index) (mixerProfiles(index)->MotorMixers)
  74 #define mixerServoMixersByIndex(index) (mixerProfiles(index)->ServoMixers)
  75
  76 bool platformTypeConfigured(flyingPlatformType_e platformType);
  77 bool outputProfileHotSwitch(int profile_index);
  78 bool checkMixerProfileHotSwitchAvalibility(void);
  79 void activateMixerConfig(void);
  80 void mixerConfigInit(void);
  81 void outputProfileUpdateTask(timeUs_t currentTimeUs);