Mixer refactoring - make FC unaware of anything besides mixer rules #2978

DzikuVx · 2018-03-27T11:02:36Z

Mixer rules will be applied by Configurator via MSP instead of having predefined presets

So that we know where those changes are going, very "work in progress" will require also Configurator support

DzikuVx · 2018-03-28T09:43:57Z

This is getting bigger than I expected... so far -620 lines of code

stronnag · 2018-03-28T09:52:55Z

so in the CLI, mixer will disappear, but mmixand smix will remain (I hope)?

DzikuVx · 2018-03-28T10:22:48Z

Yes, mmix and smix will remain unaffected @stronnag
I wonder how much flash and memory will be saved thanks to that in the end

DzikuVx · 2018-03-28T11:56:05Z

New MSP2 frames specification in https://github.com/iNavFlight/inav/wiki/INAV-MSP-frames-changelog

…ervos

DzikuVx · 2018-04-05T11:37:06Z

Requires iNavFlight/inav-configurator#332

stronnag · 2018-04-11T07:08:33Z

The js preset looks correct, so it's probably an incorrect assumption in the MSP2 constraints?
As it sets correctly from the CLI, I will fly it later, weather permitting.

DzikuVx · 2018-04-11T07:11:51Z

@stronnag I've increased allowed range in MSP and editing to -2/2 (-1/1) previously. Both FC and configurator. You might give it a try. I did not tested tho, not FC at work :(

stronnag · 2018-04-11T10:33:48Z

Working consistently on the bench between CLI and configurator setups. Flight test in a couple of hours time.

stronnag · 2018-04-11T17:20:57Z

flight tested OK (tricopter).

stronnag · 2018-04-11T19:29:09Z

~~Can we have a MSP API version-up please~~ (and maybe a configuration new version too)?
Got it ...

digitalentity

Looks ok to me

digitalentity · 2018-04-12T10:48:07Z

src/main/fc/cli.c

@@ -1016,23 +1002,6 @@ static void cliMotorMix(char *cmdline)
        for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
            customMotorMixerMutable(i)->throttle = 0.0f;
        }
-    } else if (sl_strncasecmp(cmdline, "load", 4) == 0) {


I'd still keep some common presets inside the firmware. What do you think?

I just checked statistics. circa 60% of cases are QuadX. Maybe we shouyld set default mmix to QuadX. But I'd avoid keeping presets in firmware at all. Then half would be here, half there, IDs would be kept in sync... I really doubt anyone uses INAV without Configurator and CLI backup/restore is working just fine

While it is certainly the case that one can configure the new mixer stuff in the CLI, do diff backup, reflash, restore and have a working machine, one thing you can't do (anymore) at least for non-QuadX, is:

Set up the platform / mixer in the configurator with nice 3D model etc.

Save a CLI 'diff'

Restore the diff including defaults noreboot

Go back to the configurator and have the 3D model displayed.

This is because while the platform type is persisted in the CLI, the preset id is not.

I appreciate this is just pretty 'UX' and of no technical consequence (and possibly of no concern to > 60% of the user base).

I'm also mildly (very mildly) concerned that the new mixer aware configurator does not maintain backwards compatibility with earlier firmware; on the other hand, this could be an opportunity to rip out a pile of legacy compatibility code in the configurator.

Notwithstanding the technical merit of this change, I can see a PR (public relations) / UX hiatus in the project's future, in particular with regard to 3rd party configuration tools and perhaps external OSDs. "omg you're killed another ~~cute kitten~~ android developer".

I think you are right about restore @stronnag . I will address this issue in a next few commits.
@stronnag modified configurator fully supports previous firmware versions. But problem of backward compatibility is not that big as you might imagine.

On the other hand, I'm not affarid about 3rd party tools. New firmware still reports mixer (always QuadX) and other things. What you can not do is to setup platform. I doubt users really use android tool to do full setup.

But preset setting will have to be present in CLI after all. And Configurator will also display more messages / aids.

digitalentity · 2018-04-12T10:59:00Z

src/main/fc/settings.yaml

@@ -90,6 +90,9 @@ tables:
  - name: smartport_fuel_unit
    values: ["PERCENT", "MAH", "MWH"]
    enum: smartportFuelUnit_e
+  - name: platform_type
+    values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]


Yay! I like that! Maybe VTOL's should have separate platform types?

That would make sense, right?

stronnag · 2018-04-13T10:33:41Z

Thanks for that, cli around trip working well with 'minority mixer models' shown in the configurator.
I will fly it again today, with the vtail.

stronnag · 2018-04-13T15:22:27Z

Further successful flight testing in both nav and non-nav modes, tricopter, vtail and deadcat. I've now exhausted my stock of non-quadX machines, and they are all fine with this PR.

I will fly a quadX tomorrow --- it would be nice if someone was able to test it on FW.

stronnag · 2018-04-14T15:47:04Z

Flew te quadx today, as before no issues. So that's my complete iNav MR fleet, 2xtri, 1 quadx, 1 deadcat, 1vtail, 250mm- 600mm.

DzikuVx · 2018-04-14T15:49:06Z

and that concludes testing I suppose. Thanks @stronnag

stronnag · 2018-04-14T15:53:09Z

I'm really happy with it on MR. FW with its range of servo diversity is something else. It would be good if a developer could flight test it on FW before it goes into an RC (imho).

DzikuVx · 2018-04-14T15:54:55Z

I might fly it tomorrow on a flying wing.
The funny fact is that if it worked on a Tri, it will work everywhere else. Anyhow, just flashing my wing

DzikuVx · 2018-04-15T12:28:06Z

Flight tested on a flying wing. No problems of any kind during flight

…rework

DzikuVx added In progress Don't merge labels Mar 27, 2018

DzikuVx changed the title ~~Platform type and hasFlaps flag moved to user settings~~ Mixer refactoring - make FC unaware of anything besides mixer rules Mar 27, 2018

DzikuVx requested review from martinbudden and removed request for martinbudden March 27, 2018 19:29

DzikuVx mentioned this pull request Mar 28, 2018

New mixer approach iNavFlight/inav-configurator#332

Merged

DzikuVx force-pushed the dzikuvx-mixer-rework branch from bfe74ab to 25d998e Compare April 4, 2018 08:29

This was referenced Apr 4, 2018

SPRacing F3 tricopter and servo tilt #1840

Closed

QuadX 1 Servo setup on Aux channel (for manual tilt) #2022

Closed

Deprecate and remove CHANNEL_FORWARDING #3005

Closed

DzikuVx added 9 commits April 4, 2018 18:59

Platform type and hasFlaps flag moved to user settings

cd7a18f

USE_QUAD_MIXER_ONLY define removed from codebase

1d3c6c9

USE_SERVO assumed always true (since it is) and removed

e5f2abd

custom motor mixer always loaded

900a60b

and predefined motor and servo mixers are gone

bea8bd2

mixerMode removed

9df8e5c

MSP2 frame for getting and setting new mixer properties

d2ecaed

fixed bug

87092ac

PLATFORM_OTHER added to enum

37049a3

DzikuVx force-pushed the dzikuvx-mixer-rework branch from 25d998e to 37049a3 Compare April 4, 2018 17:00

MIXER frame extended to send information about number of motors and s…

5ad1396

…ervos

DzikuVx added Enhancement Review needed and removed Don't merge In progress labels Apr 5, 2018

increased range for MSP motor rules roll/pitch/yaw to -2/2

cdfe1d3

DzikuVx added the Ready to merge label Apr 11, 2018

shellixyz mentioned this pull request Apr 11, 2018

Feature Request: "Heading Hold" for Flying Wings #1712

Closed

digitalentity approved these changes Apr 12, 2018

View reviewed changes

digitalentity added the Testing Required label Apr 12, 2018

appliedPresetId added to the CLI

12a7db1

DzikuVx added 3 commits April 13, 2018 12:39

Cli.md docs updated

da4a771

more docs update

f81e723

setting name changed

65e2e7c

DzikuVx removed the Testing Required label Apr 14, 2018

DzikuVx added 2 commits April 17, 2018 14:08

Merge remote-tracking branch 'origin/development' into dzikuvx-mixer-…

6859e8c

…rework

fix for matek f405 Wing

a953f0e

digitalentity added the Rebase Required label Apr 21, 2018

Merge branch 'development' into dzikuvx-mixer-rework

2b1a1ee

digitalentity added this to the 2.0 milestone Apr 21, 2018

digitalentity removed the Rebase Required label Apr 21, 2018

DzikuVx merged commit 9dfd2d0 into development Apr 21, 2018

digitalentity deleted the dzikuvx-mixer-rework branch April 21, 2018 23:17

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Mixer refactoring - make FC unaware of anything besides mixer rules #2978

Mixer refactoring - make FC unaware of anything besides mixer rules #2978

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Mixer refactoring - make FC unaware of anything besides mixer rules #2978

Mixer refactoring - make FC unaware of anything besides mixer rules #2978

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