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servos.c
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servos.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#ifdef USE_SERVOS
#include "build/build_config.h"
#include "common/filter.h"
#include "common/maths.h"
#include "config/config_reset.h"
#include "config/feature.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/pwm_output.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "io/gimbal.h"
#include "rx/rx.h"
extern mixerMode_e currentMixerMode;
PG_REGISTER_WITH_RESET_FN(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 0);
void pgResetFn_servoConfig(servoConfig_t *servoConfig)
{
servoConfig->dev.servoCenterPulse = 1500;
servoConfig->dev.servoPwmRate = 50;
servoConfig->tri_unarmed_servo = 1;
servoConfig->servo_lowpass_freq = 0;
servoConfig->channelForwardingStartChannel = AUX1;
for (unsigned servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
servoConfig->dev.ioTags[servoIndex] = timerioTagGetByUsage(TIM_USE_SERVO, servoIndex);
}
}
PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
PG_REGISTER_ARRAY_WITH_RESET_FN(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
void pgResetFn_servoParams(servoParam_t *instance)
{
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
RESET_CONFIG(servoParam_t, &instance[i],
.min = DEFAULT_SERVO_MIN,
.max = DEFAULT_SERVO_MAX,
.middle = DEFAULT_SERVO_MIDDLE,
.rate = 100,
.forwardFromChannel = CHANNEL_FORWARDING_DISABLED
);
}
}
// no template required since default is zero
PG_REGISTER(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 0);
int16_t servo[MAX_SUPPORTED_SERVOS];
static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
static int useServo;
#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
// mixer rule format servo, input, rate, speed, min, max, box
static const servoMixer_t servoMixerAirplane[] = {
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerFlyingWing[] = {
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, -100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerTri[] = {
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
};
#if defined(USE_UNCOMMON_MIXERS)
static const servoMixer_t servoMixerBI[] = {
{ SERVO_BICOPTER_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BICOPTER_LEFT, INPUT_STABILIZED_PITCH, -100, 0, 0, 100, 0 },
{ SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerDual[] = {
{ SERVO_DUALCOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_DUALCOPTER_RIGHT, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerSingle[] = {
{ SERVO_SINGLECOPTER_1, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerHeli[] = {
{ SERVO_HELI_LEFT, INPUT_STABILIZED_PITCH, -50, 0, 0, 100, 0 },
{ SERVO_HELI_LEFT, INPUT_STABILIZED_ROLL, -87, 0, 0, 100, 0 },
{ SERVO_HELI_LEFT, INPUT_RC_AUX1, 100, 0, 0, 100, 0 },
{ SERVO_HELI_RIGHT, INPUT_STABILIZED_PITCH, -50, 0, 0, 100, 0 },
{ SERVO_HELI_RIGHT, INPUT_STABILIZED_ROLL, 87, 0, 0, 100, 0 },
{ SERVO_HELI_RIGHT, INPUT_RC_AUX1, 100, 0, 0, 100, 0 },
{ SERVO_HELI_TOP, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_HELI_TOP, INPUT_RC_AUX1, 100, 0, 0, 100, 0 },
{ SERVO_HELI_RUD, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
};
#else
#define servoMixerBI NULL
#define servoMixerDual NULL
#define servoMixerSingle NULL
#define servoMixerHeli NULL
#endif // USE_UNCOMMON_MIXERS
static const servoMixer_t servoMixerGimbal[] = {
{ SERVO_GIMBAL_PITCH, INPUT_GIMBAL_PITCH, 125, 0, 0, 100, 0 },
{ SERVO_GIMBAL_ROLL, INPUT_GIMBAL_ROLL, 125, 0, 0, 100, 0 },
};
const mixerRules_t servoMixers[] = {
{ 0, NULL }, // entry 0
{ COUNT_SERVO_RULES(servoMixerTri), servoMixerTri }, // MULTITYPE_TRI
{ 0, NULL }, // MULTITYPE_QUADP
{ 0, NULL }, // MULTITYPE_QUADX
{ COUNT_SERVO_RULES(servoMixerBI), servoMixerBI }, // MULTITYPE_BI
{ COUNT_SERVO_RULES(servoMixerGimbal), servoMixerGimbal }, // * MULTITYPE_GIMBAL
{ 0, NULL }, // MULTITYPE_Y6
{ 0, NULL }, // MULTITYPE_HEX6
{ COUNT_SERVO_RULES(servoMixerFlyingWing), servoMixerFlyingWing },// * MULTITYPE_FLYING_WING
{ 0, NULL }, // MULTITYPE_Y4
{ 0, NULL }, // MULTITYPE_HEX6X
{ 0, NULL }, // MULTITYPE_OCTOX8
{ 0, NULL }, // MULTITYPE_OCTOFLATP
{ 0, NULL }, // MULTITYPE_OCTOFLATX
{ COUNT_SERVO_RULES(servoMixerAirplane), servoMixerAirplane }, // * MULTITYPE_AIRPLANE
{ COUNT_SERVO_RULES(servoMixerHeli), servoMixerHeli }, // * MULTITYPE_HELI_120_CCPM
{ 0, NULL }, // * MULTITYPE_HELI_90_DEG
{ 0, NULL }, // MULTITYPE_VTAIL4
{ 0, NULL }, // MULTITYPE_HEX6H
{ 0, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ COUNT_SERVO_RULES(servoMixerDual), servoMixerDual }, // MULTITYPE_DUALCOPTER
{ COUNT_SERVO_RULES(servoMixerSingle), servoMixerSingle }, // MULTITYPE_SINGLECOPTER
{ 0, NULL }, // MULTITYPE_ATAIL4
{ 0, NULL }, // MULTITYPE_CUSTOM
{ 0, NULL }, // MULTITYPE_CUSTOM_PLANE
{ 0, NULL }, // MULTITYPE_CUSTOM_TRI
{ 0, NULL },
};
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
{
const uint8_t channelToForwardFrom = servoParams(servoIndex)->forwardFromChannel;
if (channelToForwardFrom != CHANNEL_FORWARDING_DISABLED && channelToForwardFrom < rxRuntimeConfig.channelCount) {
return rcData[channelToForwardFrom];
}
return servoParams(servoIndex)->middle;
}
int servoDirection(int servoIndex, int inputSource)
{
// determine the direction (reversed or not) from the direction bitfield of the servo
if (servoParams(servoIndex)->reversedSources & (1 << inputSource)) {
return -1;
} else {
return 1;
}
}
void servosInit(void)
{
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[currentMixerMode].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT) || feature(FEATURE_CHANNEL_FORWARDING)) {
useServo = 1;
}
// give all servos a default command
for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = DEFAULT_SERVO_MIDDLE;
}
if (mixerIsTricopter()) {
servosTricopterInit();
}
}
void loadCustomServoMixer(void)
{
// reset settings
servoRuleCount = 0;
memset(currentServoMixer, 0, sizeof(currentServoMixer));
// load custom mixer into currentServoMixer
for (int i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (customServoMixers(i)->rate == 0) {
break;
}
currentServoMixer[i] = *customServoMixers(i);
servoRuleCount++;
}
}
void servoConfigureOutput(void)
{
if (useServo) {
servoRuleCount = servoMixers[currentMixerMode].servoRuleCount;
if (servoMixers[currentMixerMode].rule) {
for (int i = 0; i < servoRuleCount; i++)
currentServoMixer[i] = servoMixers[currentMixerMode].rule[i];
}
}
// set flag that we're on something with wings
if (currentMixerMode == MIXER_FLYING_WING ||
currentMixerMode == MIXER_AIRPLANE ||
currentMixerMode == MIXER_CUSTOM_AIRPLANE
) {
ENABLE_STATE(FIXED_WING);
if (currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
loadCustomServoMixer();
}
} else {
DISABLE_STATE(FIXED_WING);
if (currentMixerMode == MIXER_CUSTOM_TRI) {
loadCustomServoMixer();
}
}
}
void servoMixerLoadMix(int index)
{
// we're 1-based
index++;
// clear existing
for (int i = 0; i < MAX_SERVO_RULES; i++) {
customServoMixersMutable(i)->targetChannel = customServoMixersMutable(i)->inputSource = customServoMixersMutable(i)->rate = customServoMixersMutable(i)->box = 0;
}
for (int i = 0; i < servoMixers[index].servoRuleCount; i++) {
*customServoMixersMutable(i) = servoMixers[index].rule[i];
}
}
STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
{
// start forwarding from this channel
int channelOffset = servoConfig()->channelForwardingStartChannel;
for (int servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
}
}
static void updateGimbalServos(uint8_t firstServoIndex)
{
pwmWriteServo(firstServoIndex + 0, servo[SERVO_GIMBAL_PITCH]);
pwmWriteServo(firstServoIndex + 1, servo[SERVO_GIMBAL_ROLL]);
}
static void servoTable(void);
static void filterServos(void);
void writeServos(void)
{
servoTable();
filterServos();
uint8_t servoIndex = 0;
switch (currentMixerMode) {
case MIXER_TRI:
case MIXER_CUSTOM_TRI:
if (servosTricopterIsEnabledServoUnarmed()) {
// if unarmed flag set, we always move servo
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
} else {
// otherwise, only move servo when copter is armed
if (ARMING_FLAG(ARMED))
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
else
pwmWriteServo(servoIndex++, 0); // kill servo signal completely.
}
break;
case MIXER_FLYING_WING:
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
break;
case MIXER_CUSTOM_AIRPLANE:
case MIXER_AIRPLANE:
for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]);
}
break;
#ifdef USE_UNCOMMON_MIXERS
case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
break;
case MIXER_HELI_120_CCPM:
pwmWriteServo(servoIndex++, servo[SERVO_HELI_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RIGHT]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_TOP]);
pwmWriteServo(servoIndex++, servo[SERVO_HELI_RUD]);
break;
case MIXER_DUALCOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
break;
case MIXER_SINGLECOPTER:
for (int i = SERVO_SINGLECOPTER_INDEX_MIN; i <= SERVO_SINGLECOPTER_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]);
}
break;
#endif // USE_UNCOMMON_MIXERS
default:
break;
}
// Two servos for SERVO_TILT, if enabled
if (feature(FEATURE_SERVO_TILT) || currentMixerMode == MIXER_GIMBAL) {
updateGimbalServos(servoIndex);
servoIndex += 2;
}
// forward AUX to remaining servo outputs (not constrained)
if (feature(FEATURE_CHANNEL_FORWARDING)) {
forwardAuxChannelsToServos(servoIndex);
servoIndex += MAX_AUX_CHANNEL_COUNT;
}
}
void servoMixer(void)
{
int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
static int16_t currentOutput[MAX_SERVO_RULES];
if (FLIGHT_MODE(PASSTHRU_MODE)) {
// Direct passthru from RX
input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL];
input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH];
input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
input[INPUT_STABILIZED_ROLL] = pidData[FD_ROLL].Sum * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_PITCH] = pidData[FD_PITCH].Sum * PID_SERVO_MIXER_SCALING;
input[INPUT_STABILIZED_YAW] = pidData[FD_YAW].Sum * PID_SERVO_MIXER_SCALING;
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {
input[INPUT_STABILIZED_YAW] *= -1;
}
}
input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -1800, 1800, -500, +500);
input[INPUT_GIMBAL_ROLL] = scaleRange(attitude.values.roll, -1800, 1800, -500, +500);
input[INPUT_STABILIZED_THROTTLE] = motor[0] - 1000 - 500; // Since it derives from rcCommand or mincommand and must be [-500:+500]
// center the RC input value around the RC middle value
// by subtracting the RC middle value from the RC input value, we get:
// data - middle = input
// 2000 - 1500 = +500
// 1500 - 1500 = 0
// 1000 - 1500 = -500
input[INPUT_RC_ROLL] = rcData[ROLL] - rxConfig()->midrc;
input[INPUT_RC_PITCH] = rcData[PITCH] - rxConfig()->midrc;
input[INPUT_RC_YAW] = rcData[YAW] - rxConfig()->midrc;
input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - rxConfig()->midrc;
input[INPUT_RC_AUX1] = rcData[AUX1] - rxConfig()->midrc;
input[INPUT_RC_AUX2] = rcData[AUX2] - rxConfig()->midrc;
input[INPUT_RC_AUX3] = rcData[AUX3] - rxConfig()->midrc;
input[INPUT_RC_AUX4] = rcData[AUX4] - rxConfig()->midrc;
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = 0;
}
// mix servos according to rules
for (int i = 0; i < servoRuleCount; i++) {
// consider rule if no box assigned or box is active
if (currentServoMixer[i].box == 0 || IS_RC_MODE_ACTIVE(BOXSERVO1 + currentServoMixer[i].box - 1)) {
uint8_t target = currentServoMixer[i].targetChannel;
uint8_t from = currentServoMixer[i].inputSource;
uint16_t servo_width = servoParams(target)->max - servoParams(target)->min;
int16_t min = currentServoMixer[i].min * servo_width / 100 - servo_width / 2;
int16_t max = currentServoMixer[i].max * servo_width / 100 - servo_width / 2;
if (currentServoMixer[i].speed == 0)
currentOutput[i] = input[from];
else {
if (currentOutput[i] < input[from])
currentOutput[i] = constrain(currentOutput[i] + currentServoMixer[i].speed, currentOutput[i], input[from]);
else if (currentOutput[i] > input[from])
currentOutput[i] = constrain(currentOutput[i] - currentServoMixer[i].speed, input[from], currentOutput[i]);
}
servo[target] += servoDirection(target, from) * constrain(((int32_t)currentOutput[i] * currentServoMixer[i].rate) / 100, min, max);
} else {
currentOutput[i] = 0;
}
}
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = ((int32_t)servoParams(i)->rate * servo[i]) / 100L;
servo[i] += determineServoMiddleOrForwardFromChannel(i);
}
}
static void servoTable(void)
{
// airplane / servo mixes
switch (currentMixerMode) {
case MIXER_CUSTOM_TRI:
case MIXER_TRI:
servosTricopterMixer();
break;
case MIXER_CUSTOM_AIRPLANE:
case MIXER_FLYING_WING:
case MIXER_AIRPLANE:
case MIXER_BICOPTER:
case MIXER_DUALCOPTER:
case MIXER_SINGLECOPTER:
case MIXER_HELI_120_CCPM:
case MIXER_GIMBAL:
servoMixer();
break;
/*
case MIXER_GIMBAL:
servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
break;
*/
default:
break;
}
// camera stabilization
if (feature(FEATURE_SERVO_TILT)) {
// center at fixed position, or vary either pitch or roll by RC channel
servo[SERVO_GIMBAL_PITCH] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
if (gimbalConfig()->mode == GIMBAL_MODE_MIXTILT) {
servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate) * attitude.values.pitch / 50 - (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll / 50;
servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate) * attitude.values.pitch / 50 + (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll / 50;
} else {
servo[SERVO_GIMBAL_PITCH] += (int32_t)servoParams(SERVO_GIMBAL_PITCH)->rate * attitude.values.pitch / 50;
servo[SERVO_GIMBAL_ROLL] += (int32_t)servoParams(SERVO_GIMBAL_ROLL)->rate * attitude.values.roll / 50;
}
}
}
// constrain servos
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = constrain(servo[i], servoParams(i)->min, servoParams(i)->max); // limit the values
}
}
bool isMixerUsingServos(void)
{
return useServo;
}
static biquadFilter_t servoFilter[MAX_SUPPORTED_SERVOS];
void servosFilterInit(void)
{
if (servoConfig()->servo_lowpass_freq) {
for (int servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
biquadFilterInitLPF(&servoFilter[servoIdx], servoConfig()->servo_lowpass_freq, targetPidLooptime);
}
}
}
static void filterServos(void)
{
#if defined(MIXER_DEBUG)
uint32_t startTime = micros();
#endif
if (servoConfig()->servo_lowpass_freq) {
for (int servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
servo[servoIdx] = lrintf(biquadFilterApply(&servoFilter[servoIdx], (float)servo[servoIdx]));
// Sanity check
servo[servoIdx] = constrain(servo[servoIdx], servoParams(servoIdx)->min, servoParams(servoIdx)->max);
}
}
#if defined(MIXER_DEBUG)
debug[0] = (int16_t)(micros() - startTime);
#endif
}
#endif // USE_SERVOS