update documents

docs/MixerProfile.md

@@ -0,0 +1,136 @@
+# MixerProfile
+A MixerProfile is a set of motor mixer,servomixer,platform type configuration settings.
+
+Currently Two profiles are supported expect f411 and f722. The default profile is profile `1`.
+
+Switching between profiles requires reboot to take affect by default. But When the conditions are met, It allows inflight profile switching to allow things like vtol build.
+
+# Setup for vtol
+- Need to keep motor/servo pwm mapping consistent among profiles
+- FW and MC have different way to map the pwm mapping, we need to change `timerHardware`` for to make it have same mapping.
+- A vtol specific fc target is required. There might more official vtol fc target in the future
+- Set mixer_profile, pid_profile separately, and set RC mode to switch them
+## FC target
+To keep motor/servo pwm mapping consistent and enable hot switching. Here is MATEKF405TE_SD board (folder name `MATEKF405TE`) used for vtol as a example.
+
+The target name for vtol build is MATEKF405TE_SD_VTOL, target folder name is MATEKF405TE.
+when it is done, build your target and flash it to your fc,.
+
+### CMakeLists.txt
+```c
+target_stm32f405xg(MATEKF405TE)
+target_stm32f405xg(MATEKF405TE_SD)
+target_stm32f405xg(MATEKF405TE_SD_VTOL) //new target added
+```
+### target.c
+It is **important** to map all the serial output to `TIM_USE_VTOL_MOTOR` or `TIM_USE_VTOL_SERVO` to ensure same mapping among MC mapping and FW mapping.
+```c
+timerHardware_t timerHardware[] = {
+#ifdef MATEKF405TE_SD_VTOL // Vtol target specific mapping start from there 
+    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_VTOL_MOTOR,   0, 0), // S1 for motor
+    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_VTOL_MOTOR,   0, 0), // S2 for motor
+    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_VTOL_MOTOR,   0, 0), // S3 for motor
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_VTOL_MOTOR,   0, 1), // S4 for motor
+
+    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_VTOL_SERVO,   0, 0), // S5 for servo
+    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_VTOL_SERVO,   0, 0), // S6 for servo
+    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_VTOL_SERVO,   0, 0), // S7 for servo
+    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_VTOL_SERVO,   0, 0), // S8 for servo
+    
+    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_VTOL_SERVO,   0, 0), // S9  for servo
+    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_VTOL_SERVO,   0, 0), // S10 for servo
+    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_VTOL_MOTOR,   0, 0), // S11 for motor
+#else // Vtol target specific mapping end there 
+    //Non votl target start from here
+    .........omitted
+#endif
+    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_LED,    0, 0), // 2812LED  D(1,2,5)
+    DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_BEEPER, 0, 0), // BEEPER PWM
+    
+    DEF_TIM(TIM9,  CH2,  PA3,  TIM_USE_PPM,    0, 0), //RX2
+    DEF_TIM(TIM5,  CH3,  PA2,  TIM_USE_ANY,    0, 0), //TX2  softserial1_Tx
+};
+```
+### target.h
+
+Then define `ENABLE_MIXER_PROFILE_MCFW_HOTSWAP` to enable mixer_profile hot switching once you have set the pwm mapping
+```c
+#ifdef MATEKF405TE_SD_VTOL
+#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP //Enable hot swap
+#define MATEKF405TE_SD //Define the original target name keep its original configuration such as USBD_PRODUCT_STRING
+#endif
+```
+
+## Configuration
+### Profile switch
+Setup the FW mode and MC mode separately in two different mixer profile,
+
+I will use FW mode as mixer_profile 1, and MC as mixer_profile 2 as example.
+At current state, inav-configurator do not support mixer_profile, some of the settings have to be done in cli
+
+`set mixer_pid_profile_linking = ON` to enable pid_profile auto handling. It will change the pid_profile index according to mixer_profile index on fc boot and mixer_profile hot switching(recommended)
+```
+mixer_profile 1 #switch to mixer_profile by cli
+
+set platform_type = AIRPLANE
+set model_preview_type = 26
+set motorstop_on_low = ON # motor stop feature have been moved to here
+set mixer_pid_profile_linking = ON # enable pid_profile auto handling(recommended).
+save
+```
+Then finish the airplane setting on mixer_profile 1
+
+```
+mixer_profile 2
+
+set platform_type = TRICOPTER
+set model_preview_type = 1
+set mixer_pid_profile_linking = ON # also enable pid_profile auto handling
+save
+```
+Then finish the multirotor setting on mixer_profile 2
+You can use `MAX` servo input to set a fixed input for the tilting servo. speed setting for `MAX` input is available in cli.
+
+**Double check all settings in cli by `diff all` command**, make sure you have correct settings. And see what will change with mixer_profile. For example servo output min/max range will not change
+
+### Mixer Transition input
+Normally 'transition input' will be useful in MC mode to gain airspeed.
+Servo mixer and motor mixer can accept transition mode as input. 
+It will move accordingly when transition mode is activated.
+The use of Transition mode is recommended to enable further features/developments like failsafe support. Map motor to servo output, or servo with logic condition is not recommended 
+#### servo
+38 is the input source for transition input, use this to tilt motor to gain airspeed
+example:
+Add servo 1 output by +45 in speed of 150 when transition mode is activate for tilted motor setup
+```
+# rule no; servo index; input source; rate; speed; activate logic function number
+smix 6 1 38 45 150 -1
+```
+
+#### motor
+the default mmix throttle value is 0.0, It will not show in diff command when throttle value is 0.0(unused), which motor will stop.
+- 0.0<throttle<=1.0 : normal mapping
+- -1.0<throttle<=0.0 : motor stop, default value 0
+- -2.0<throttle<-1.0 : spin regardless of the radio\`s throttle position at speed `abs(throttle)-1` when Mixer Transition is activated
+
+example:
+It will spin motor number 5(count from 1) at 20% in transition mode to gain speed for 4 rotor 1 pusher setup
+```
+# motor number; throttle; roll; pitch; yaw
+mmix 4 -1.200  0.000  0.000  0.000
+```
+
+### RC mode settings
+It currently support take a rc input to activate modes or switch profiles
+Mixer_profile 1 will be used as default, mixer_profile 2 will be used when `MIXER PROFILE 2` box is activated, Once successfully set, You can see profiles/model preview/etc will switch accordingly when you change inav-configurator tabs, it will make the setting easier.
+
+Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos, Here is sample of 
+![Alt text](Screenshots/mixer_profile.png)
+|  1000~1300 |  1300~1700  | 1700~2000 |
+| :-- | :-- | :-- |
+| FW(profile1) with transition off |  MC(profile2) with transition on  | MC(profile2) with transition off |
+
+It is also possible to set it as 4 state switch by adding FW(profile1) with transition on
+## Happy flying
+Test every thing on bench first, Try it some where you can recover your model in case of failsafe.
+Failsafe behavior is unknown at current stage. 

src/main/drivers/timer.h

@@ -111,6 +111,8 @@ typedef enum {
     TIM_USE_MC_CHNFW        = (1 << 4),     // Deprecated and not used after removal of CHANNEL_FORWARDING feature
     TIM_USE_FW_MOTOR        = (1 << 5),
     TIM_USE_FW_SERVO        = (1 << 6),
+    TIM_USE_VTOL_SERVO      = (TIM_USE_FW_SERVO | TIM_USE_MC_SERVO),
+    TIM_USE_VTOL_MOTOR      = (TIM_USE_FW_MOTOR | TIM_USE_MC_MOTOR),
     TIM_USE_LED             = (1 << 24),
     TIM_USE_BEEPER          = (1 << 25),
 } timerUsageFlag_e;

src/main/fc/fc_msp_box.c

@@ -99,7 +99,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 56 },
     { .boxId = BOXCHANGEMISSION,    .boxName = "MISSION CHANGE",    .permanentId = 59 },
     { .boxId = BOXBEEPERMUTE,       .boxName = "BEEPER MUTE",       .permanentId = 60 },
-    { .boxId = BOXMIXERPROFILE,     .boxName = "MIXER RPROFILE 2",  .permanentId = 61 },
+    { .boxId = BOXMIXERPROFILE,     .boxName = "MIXER PROFILE 2",  .permanentId = 61 },
     { .boxId = BOXMIXERTRANSITION,  .boxName = "MIXER TRANSITION",  .permanentId = 62 },
     { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL,                .permanentId = 0xFF }
 };

src/main/flight/mixer.c

@@ -105,14 +105,25 @@ int getThrottleIdleValue(void)
 
 static void computeMotorCount(void)
 {
+    static bool firstRun = true;
+    if (!firstRun) {
+        return;
+    }
     motorCount = 0;
     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        bool isMotorUsed = false;
+        for(int j = 0; j< MAX_MIXER_PROFILE_COUNT; j++){
+            if (mixerMotorMixersByIndex(j)[i]->throttle != 0.0f) {
+                isMotorUsed = true;
+            }
+        }
         // check if done
-        if (primaryMotorMixer(i)->throttle == 0.0f) {
+        if (!isMotorUsed) {
             break;
         }
         motorCount++;
     }
+    firstRun = false;
 }
 
 bool ifMotorstopFeatureEnabled(void){

src/main/flight/mixer_profile.c

@@ -84,19 +84,19 @@ void mixerConfigInit(void){
     }
 }
 
-static int computeMotorCountByMixerProfileIndex(int index)
-{
-    int motorCount = 0;
-    const motorMixer_t* temp_motormixers=mixerMotorMixersByIndex(index)[0];
-    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        // check if done
-        if (temp_motormixers[i].throttle == 0.0f) {
-            break;
-        }
-        motorCount++;
-    }
-    return motorCount;
-}
+// static int computeMotorCountByMixerProfileIndex(int index)
+// {
+//     int motorCount = 0;
+//     const motorMixer_t* temp_motormixers=mixerMotorMixersByIndex(index)[0];
+//     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+//         // check if done
+//         if (temp_motormixers[i].throttle == 0.0f) {
+//             break;
+//         }
+//         motorCount++;
+//     }
+//     return motorCount;
+// }
 
 // static int computeServoCountByMixerProfileIndex(int index)
 // {
@@ -159,13 +159,13 @@ bool checkMixerProfileHotSwitchAvalibility(void)
         allow_hot_switch = 0;
         return false;
     }
+    //not necessary when map motor/servos of all mixer profiles on the first boot 
     //do not allow switching if motor or servos counts are different
     // if ((computeMotorCountByMixerProfileIndex(0) != computeMotorCountByMixerProfileIndex(1)) || (computeServoCountByMixerProfileIndex(0) != computeServoCountByMixerProfileIndex(1)))
-    if ((computeMotorCountByMixerProfileIndex(0) != computeMotorCountByMixerProfileIndex(1)))
-    {
-        allow_hot_switch = 0;
-        return false;
-    }
+    // {
+    //     allow_hot_switch = 0;
+    //     return false;
+    // }
     allow_hot_switch = 1;
     return true;
 }

src/main/target/MATEKF405TE/target.c

@@ -27,19 +27,19 @@
 timerHardware_t timerHardware[] = {
 #ifdef MATEKF405TE_SD_VTOL
 //With INAV firmware, DSHOT can not work on S3, S5,S7 because of DMA clash,  pls use ONESHOT or MULTISHOT and calibrate ESC PWM range.<-copied from matek website
-    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S1 D(2,7,7) UP217
-    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S2 D(2,2,0) UP217
-    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S3 D(2,6,0) UP256
-    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 1), // S4 D(2,1,6) UP256
+    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_VTOL_MOTOR,   0, 0), // S1 D(2,7,7) UP217
+    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_VTOL_MOTOR,   0, 0), // S2 D(2,2,0) UP217
+    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_VTOL_MOTOR,   0, 0), // S3 D(2,6,0) UP256
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_VTOL_MOTOR,   0, 1), // S4 D(2,1,6) UP256
 
-    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S5 D(1,7,3) UP173
-    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S6 D(1,1,3) UP173
-    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S7 D(1,6,3) UP173
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S8 D(1,5,3) UP173
+    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_VTOL_SERVO,   0, 0), // S5 D(1,7,3) UP173
+    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_VTOL_SERVO,   0, 0), // S6 D(1,1,3) UP173
+    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_VTOL_SERVO,   0, 0), // S7 D(1,6,3) UP173
+    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_VTOL_SERVO,   0, 0), // S8 D(1,5,3) UP173
 
-    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S9  DMA NONE
-    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S10 DMA NONE
-    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S11 D(1,0,2)
+    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_VTOL_SERVO,   0, 0), // S9  DMA NONE
+    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_VTOL_SERVO,   0, 0), // S10 DMA NONE
+    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_VTOL_MOTOR,   0, 0), // S11 D(1,0,2)
 #else
     DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S1 D(2,7,7) UP217
     DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S2 D(2,2,0) UP217