Added max_rx_channels configuration option

rs2k · Jan 25, 2016 · 452e694 · 452e694
1 parent 196f05f
commit 452e694
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Showing 5 changed files with 16 additions and 14 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -472,7 +472,15 @@ static void resetConf(void)
 #if defined(CC3D)
     masterConfig.acc_hardware = 1;     // default/autodetect
 #endif
-
+
+#if defined(STM32F40_41xxx) || defined (STM32F411xE)
+    masterConfig.rxConfig.max_rx_channels = 16;
+#elif defined(STM32F303xC)
+    masterConfig.rxConfig.max_rx_channels = 10;
+#else
+    masterConfig.rxConfig.max_rx_channels = 8;
+#endif
+
     masterConfig.rxConfig.spektrum_sat_bind = 0;
     masterConfig.rxConfig.midrc = 1500;
     masterConfig.rxConfig.mincheck = 1100;

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -753,7 +753,7 @@ STATIC_UNIT_TESTED void servoMixer(void)
 void mixTable(void)
 {
     uint32_t i;
-
+    
     bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
 
     if (motorCount >= 4 && mixerConfig->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
@@ -793,6 +793,7 @@ void mixTable(void)
         int16_t throttleMin, throttleMax;
         static bool flightDirection3dReversed;
 
+        throttleMin = 0;
         throttle = rcData[THROTTLE];
 
         // Find min and max throttle based on condition

diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -605,6 +605,7 @@ const clivalue_t valueTable[] = {
 
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
     { "rx_max_usec",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
+    { "max_rx_channels",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.max_rx_channels, .config.minmax = { 4, 16 } },
 
 #ifdef USE_SERVOS
     { "gimbal_mode",                VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE } },

diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
@@ -94,11 +94,6 @@ uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 #define DELAY_5_HZ (1000000 / 5)
 #define SKIP_RC_ON_SUSPEND_PERIOD 1500000           // 1.5 second period in usec (call frequency independent)
 #define SKIP_RC_SAMPLES_ON_RESUME  2                // flush 2 samples to drop wrong measurements (timing independent)
-#ifdef STM32F303xC
-#define MAX_RC_CHANNELS_HIGH_PERFORMANCE 10         // Maximum channels allowed during fast refresh rates for more performance
-#else
-#define MAX_RC_CHANNELS_HIGH_PERFORMANCE 8          // Maximum channels allowed during fast refresh rates for more performance
-#endif
 
 rxRuntimeConfig_t rxRuntimeConfig;
 static rxConfig_t *rxConfig;
@@ -457,14 +452,10 @@ static uint8_t getRxChannelCount(void) {
     static uint8_t maxChannelsAllowed;
 
     if (!maxChannelsAllowed) {
-        if (targetLooptime < 1000) {
-            if (MAX_RC_CHANNELS_HIGH_PERFORMANCE > rxRuntimeConfig.channelCount) {
-                maxChannelsAllowed = rxRuntimeConfig.channelCount;
-            } else {
-                maxChannelsAllowed = MAX_RC_CHANNELS_HIGH_PERFORMANCE;
-            }
-        } else {
+	    if (rxConfig->max_rx_channels > rxRuntimeConfig.channelCount) {
             maxChannelsAllowed = rxRuntimeConfig.channelCount;
+        } else {
+	        maxChannelsAllowed = rxConfig->max_rx_channels;
         }
     }
     return maxChannelsAllowed;

diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
@@ -123,6 +123,7 @@ typedef struct rxConfig_s {
 
     uint16_t rx_min_usec;
     uint16_t rx_max_usec;
+    uint8_t max_rx_channels;
     rxFailsafeChannelConfiguration_t failsafe_channel_configurations[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 
     rxChannelRangeConfiguration_t channelRanges[NON_AUX_CHANNEL_COUNT];