Merge pull request iNavFlight#3314 from iNavFlight/de_remove_midrc

Remove mid_rc setting

src/main/fc/fc_core.c

@@ -141,7 +141,7 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
 {
     int16_t stickDeflection;
 
-    stickDeflection = constrain(rawData - rxConfig()->midrc, -500, 500);
+    stickDeflection = constrain(rawData - PWM_RANGE_MIDDLE, -500, 500);
     stickDeflection = applyDeadband(stickDeflection, deadband);
 
     return rcLookup(stickDeflection, rate);

src/main/fc/fc_msp.c

@@ -647,7 +647,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_MISC:
-        sbufWriteU16(dst, rxConfig()->midrc);
+        sbufWriteU16(dst, PWM_RANGE_MIDDLE);
 
         sbufWriteU16(dst, motorConfig()->minthrottle);
         sbufWriteU16(dst, motorConfig()->maxthrottle);
@@ -677,7 +677,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP2_INAV_MISC:
-        sbufWriteU16(dst, rxConfig()->midrc);
+        sbufWriteU16(dst, PWM_RANGE_MIDDLE);
 
         sbufWriteU16(dst, motorConfig()->minthrottle);
         sbufWriteU16(dst, motorConfig()->maxthrottle);
@@ -829,7 +829,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     case MSP_RX_CONFIG:
         sbufWriteU8(dst, rxConfig()->serialrx_provider);
         sbufWriteU16(dst, rxConfig()->maxcheck);
-        sbufWriteU16(dst, rxConfig()->midrc);
+        sbufWriteU16(dst, PWM_RANGE_MIDDLE);
         sbufWriteU16(dst, rxConfig()->mincheck);
         sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
         sbufWriteU16(dst, rxConfig()->rx_min_usec);
@@ -1595,7 +1595,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_MISC:
         if (dataSize >= 22) {
-        rxConfigMutable()->midrc = constrain(sbufReadU16(src), MIDRC_MIN, MIDRC_MAX);
+        sbufReadU16(src);   // midrc
 
         motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
         motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@@ -1635,7 +1635,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP2_INAV_SET_MISC:
         if (dataSize == 39) {
-            rxConfigMutable()->midrc = constrain(sbufReadU16(src), MIDRC_MIN, MIDRC_MAX);
+            sbufReadU16(src);       // midrc
 
             motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
             motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@@ -2264,7 +2264,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         if (dataSize >= 24) {
             rxConfigMutable()->serialrx_provider = sbufReadU8(src);
             rxConfigMutable()->maxcheck = sbufReadU16(src);
-            rxConfigMutable()->midrc = sbufReadU16(src);
+            sbufReadU16(src); // midrc
             rxConfigMutable()->mincheck = sbufReadU16(src);
             rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
             rxConfigMutable()->rx_min_usec = sbufReadU16(src);

src/main/fc/rc_adjustments.c

@@ -475,9 +475,9 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
 
         if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
             int delta;
-            if (rcData[channelIndex] > rxConfig()->midrc + 200) {
+            if (rcData[channelIndex] > PWM_RANGE_MIDDLE + 200) {
                 delta = adjustmentState->config->data.stepConfig.step;
-            } else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
+            } else if (rcData[channelIndex] < PWM_RANGE_MIDDLE - 200) {
                 delta = 0 - adjustmentState->config->data.stepConfig.step;
             } else {
                 // returning the switch to the middle immediately resets the ready state

src/main/fc/rc_controls.c

@@ -101,7 +101,7 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
 throttleStatus_e calculateThrottleStatus(void)
 {
     const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
-    if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig()->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig()->midrc + deadband3d_throttle)))
+    if (feature(FEATURE_3D) && (rcData[THROTTLE] > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rcData[THROTTLE] < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
         return THROTTLE_LOW;
     else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))
         return THROTTLE_LOW;
@@ -111,8 +111,8 @@ throttleStatus_e calculateThrottleStatus(void)
 
 rollPitchStatus_e calculateRollPitchCenterStatus(void)
 {
-    if (((rcData[PITCH] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[PITCH] > (rxConfig()->midrc -AIRMODE_DEADBAND)))
-            && ((rcData[ROLL] < (rxConfig()->midrc + AIRMODE_DEADBAND)) && (rcData[ROLL] > (rxConfig()->midrc -AIRMODE_DEADBAND))))
+    if (((rcData[PITCH] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[PITCH] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
+            && ((rcData[ROLL] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[ROLL] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
         return CENTERED;
 
     return NOT_CENTERED;
@@ -328,7 +328,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
     }
 }
 
-int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
-    return MIN(ABS(rcData[axis] - midrc), 500);
+int32_t getRcStickDeflection(int32_t axis) {
+    return MIN(ABS(rcData[axis] - PWM_RANGE_MIDDLE), 500);
 }
 

src/main/fc/rc_controls.h

@@ -99,4 +99,4 @@ throttleStatus_e calculateThrottleStatus(void);
 rollPitchStatus_e calculateRollPitchCenterStatus(void);
 void processRcStickPositions(throttleStatus_e throttleStatus);
 
-int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
+int32_t getRcStickDeflection(int32_t axis);

src/main/fc/settings.yaml

@@ -321,10 +321,6 @@ groups:
       - name: receiver_type
         field: receiverType
         table: receiver_type
-      - name: mid_rc
-        field: midrc
-        min: MIDRC_MIN
-        max: MIDRC_MAX
       - name: min_check
         field: mincheck
         min: PWM_RANGE_MIN

src/main/flight/failsafe.c

@@ -275,7 +275,7 @@ void failsafeApplyControlInput(void)
                         break;
 
                     case THROTTLE:
-                        rcCommand[idx] = feature(FEATURE_3D) ? rxConfig()->midrc : motorConfig()->minthrottle;
+                        rcCommand[idx] = feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : motorConfig()->minthrottle;
                         break;
                 }
                 break;
@@ -330,9 +330,9 @@ static bool failsafeCheckStickMotion(void)
     if (failsafeConfig()->failsafe_stick_motion_threshold > 0) {
         uint32_t totalRcDelta = 0;
 
-        totalRcDelta += ABS(rcData[ROLL] - rxConfig()->midrc);
-        totalRcDelta += ABS(rcData[PITCH] - rxConfig()->midrc);
-        totalRcDelta += ABS(rcData[YAW] - rxConfig()->midrc);
+        totalRcDelta += ABS(rcData[ROLL] - PWM_RANGE_MIDDLE);
+        totalRcDelta += ABS(rcData[PITCH] - PWM_RANGE_MIDDLE);
+        totalRcDelta += ABS(rcData[YAW] - PWM_RANGE_MIDDLE);
 
         return totalRcDelta >= failsafeConfig()->failsafe_stick_motion_threshold;
     }

src/main/flight/mixer.c

@@ -284,17 +284,17 @@ void mixTable(const float dT)
 
     // Find min and max throttle based on condition.
     if (feature(FEATURE_3D)) {
-        if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
+        if (!ARMING_FLAG(ARMED)) throttlePrevious = PWM_RANGE_MIDDLE; // When disarmed set to mid_rc. It always results in positive direction after arming.
 
-        if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
+        if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
+        } else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
             throttleMax = motorConfig()->maxthrottle;
             throttleMin = flight3DConfig()->deadband3d_high;
             throttlePrevious = throttleCommand = rcCommand[THROTTLE];
-        } else if ((throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
+        } else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttleCommand = throttleMax = flight3DConfig()->deadband3d_low;
             throttleMin = motorConfig()->minthrottle;
         } else {  // Deadband handling from positive to negative
@@ -333,7 +333,7 @@ void mixTable(const float dT)
             if (failsafeIsActive()) {
                 motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
             } else if (feature(FEATURE_3D)) {
-                if (throttlePrevious <= (rxConfig()->midrc - rcControlsConfig()->deadband3d_throttle)) {
+                if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)) {
                     motor[i] = constrain(motor[i], motorConfig()->minthrottle, flight3DConfig()->deadband3d_low);
                 } else {
                     motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);
@@ -349,7 +349,7 @@ void mixTable(const float dT)
                 bool userMotorStop = !navigationIsFlyingAutonomousMode() && !failsafeIsActive() && (rcData[THROTTLE] < rxConfig()->mincheck);
                 if (failsafeMotorStop || navMotorStop || userMotorStop) {
                     if (feature(FEATURE_3D)) {
-                        motor[i] = rxConfig()->midrc;
+                        motor[i] = PWM_RANGE_MIDDLE;
                     }
                     else {
                         motor[i] = motorConfig()->mincommand;

src/main/flight/pid.c

@@ -392,8 +392,8 @@ void updatePIDCoefficients(void)
 static float calcHorizonRateMagnitude(void)
 {
     // Figure out the raw stick positions
-    const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig()->midrc));
-    const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig()->midrc));
+    const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL));
+    const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH));
     const float mostDeflectedStickPos = constrain(MAX(stickPosAil, stickPosEle), 0, 500) / 500.0f;
     const float modeTransitionStickPos = constrain(pidBank()->pid[PID_LEVEL].D, 0, 100) / 100.0f;
 

src/main/flight/servos.c

@@ -230,7 +230,7 @@ void servoMixer(float dT)
         input[INPUT_STABILIZED_YAW] = axisPID[YAW];
 
         // Reverse yaw servo when inverted in 3D mode only for multirotor and tricopter
-        if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc) && 
+        if (feature(FEATURE_3D) && (rcData[THROTTLE] < PWM_RANGE_MIDDLE) && 
         (mixerConfig()->platformType == PLATFORM_MULTIROTOR || mixerConfig()->platformType == PLATFORM_TRICOPTER)) {
             input[INPUT_STABILIZED_YAW] *= -1;
         }
@@ -254,22 +254,22 @@ void servoMixer(float dT)
     // 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_CH5]      = rcData[AUX1]     - rxConfig()->midrc;
-    input[INPUT_RC_CH6]      = rcData[AUX2]     - rxConfig()->midrc;
-    input[INPUT_RC_CH7]      = rcData[AUX3]     - rxConfig()->midrc;
-    input[INPUT_RC_CH8]      = rcData[AUX4]     - rxConfig()->midrc;
-    input[INPUT_RC_CH9]      = rcData[AUX5]     - rxConfig()->midrc;
-    input[INPUT_RC_CH10]     = rcData[AUX6]     - rxConfig()->midrc;
-    input[INPUT_RC_CH11]     = rcData[AUX7]     - rxConfig()->midrc;
-    input[INPUT_RC_CH12]     = rcData[AUX8]     - rxConfig()->midrc;
-    input[INPUT_RC_CH13]     = rcData[AUX9]     - rxConfig()->midrc;
-    input[INPUT_RC_CH14]     = rcData[AUX10]    - rxConfig()->midrc;
-    input[INPUT_RC_CH15]     = rcData[AUX11]    - rxConfig()->midrc;
-    input[INPUT_RC_CH16]     = rcData[AUX12]    - rxConfig()->midrc;
+    input[INPUT_RC_ROLL]     = rcData[ROLL]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_PITCH]    = rcData[PITCH]    - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_YAW]      = rcData[YAW]      - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH5]      = rcData[AUX1]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH6]      = rcData[AUX2]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH7]      = rcData[AUX3]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH8]      = rcData[AUX4]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH9]      = rcData[AUX5]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH10]     = rcData[AUX6]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH11]     = rcData[AUX7]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH12]     = rcData[AUX8]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH13]     = rcData[AUX9]     - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH14]     = rcData[AUX10]    - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH15]     = rcData[AUX11]    - PWM_RANGE_MIDDLE;
+    input[INPUT_RC_CH16]     = rcData[AUX12]    - PWM_RANGE_MIDDLE;
 
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servo[i] = 0;

src/main/rx/crsf.c

@@ -257,7 +257,7 @@ void crsfRxSendTelemetryData(void)
 bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 {
     for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
-        crsfChannelData[ii] = (16 * rxConfig->midrc) / 10 - 1408;
+        crsfChannelData[ii] = (16 * PWM_RANGE_MIDDLE) / 10 - 1408;
     }
 
     rxRuntimeConfig->channelCount = CRSF_MAX_CHANNEL;

src/main/rx/rx.c

@@ -113,7 +113,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 4);
 #define DEFAULT_RX_TYPE   RX_TYPE_NONE
 #endif
 
-#define RX_MIDRC 1500
 #define RX_MIN_USEX 885
 PG_RESET_TEMPLATE(rxConfig_t, rxConfig,
     .receiverType = DEFAULT_RX_TYPE,
@@ -123,7 +122,6 @@ PG_RESET_TEMPLATE(rxConfig_t, rxConfig,
     .rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL,
     .spektrum_sat_bind = 0,
     .serialrx_inverted = 0,
-    .midrc = RX_MIDRC,
     .mincheck = 1100,
     .maxcheck = 1900,
     .rx_min_usec = RX_MIN_USEX,          // any of first 4 channels below this value will trigger rx loss detection
@@ -244,11 +242,11 @@ void rxInit(void)
     rcSampleIndex = 0;
 
     for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
-        rcData[i] = rxConfig()->midrc;
+        rcData[i] = PWM_RANGE_MIDDLE;
         rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
     }
 
-    rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
+    rcData[THROTTLE] = (feature(FEATURE_3D)) ? PWM_RANGE_MIDDLE : rxConfig()->rx_min_usec;
 
     // Initialize ARM switch to OFF position when arming via switch is defined
     for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {

src/main/rx/rx.h

@@ -121,7 +121,7 @@ typedef struct rxConfig_s {
     uint8_t rssi_channel;
     uint8_t rssi_scale;
     uint8_t rssiInvert;
-    uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
+    uint16_t __reserved;                    // was micrd
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
     uint16_t rx_min_usec;

src/main/rx/sbus_channels.c

@@ -88,7 +88,7 @@ void sbusChannelsInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeCo
 {
     rxRuntimeConfig->rcReadRawFn = sbusChannelsReadRawRC;
     for (int b = 0; b < SBUS_MAX_CHANNEL; b++) {
-        rxRuntimeConfig->channelData[b] = (16 * rxConfig->midrc) / 10 - 1408;
+        rxRuntimeConfig->channelData[b] = (16 * PWM_RANGE_MIDDLE) / 10 - 1408;
     }
 }
 #endif