delete MOT_ORDERING

src/drivers/dshot/DShot.cpp

@@ -262,7 +262,7 @@ int DShot::send_command_thread_safe(const dshot_command_t command, const int num
 		cmd.motor_mask = 0xff;
 
 	} else {
-		cmd.motor_mask = 1 << _mixing_output.reorderedMotorIndex(motor_index);
+		cmd.motor_mask = 1 << motor_index;
 	}
 
 	cmd.num_repetitions = num_repetitions;
@@ -320,7 +320,7 @@ int DShot::request_esc_info()
 	_telemetry->handler.redirectOutput(*_request_esc_info.load());
 	_waiting_for_esc_info = true;
 
-	int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
+	int motor_index = _request_esc_info.load()->motor_index;
 
 	_current_command.motor_mask = 1 << motor_index;
 	_current_command.num_repetitions = 1;
@@ -352,7 +352,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			requested_telemetry_index = request_esc_info();
 
 		} else {
-			requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
+			requested_telemetry_index = _telemetry->handler.getRequestMotorIndex();
 		}
 	}
 

src/lib/mixer_module/mixer_module.cpp

@@ -150,8 +150,6 @@ void MixingOutput::updateParams()
 {
 	ModuleParams::updateParams();
 
-	_param_mot_ordering.set(0); // not used with dynamic mixing
-
 	bool function_changed = false;
 
 	for (unsigned i = 0; i < _max_num_outputs; i++) {
@@ -429,10 +427,10 @@ unsigned MixingOutput::motorTest()
 
 			if (idx < MAX_ACTUATORS) {
 				if (test_motor.value < 0.f) {
-					_current_output_value[reorderedMotorIndex(idx)] = _disarmed_value[idx];
+					_current_output_value[idx] = _disarmed_value[idx];
 
 				} else {
-					_current_output_value[reorderedMotorIndex(idx)] =
+					_current_output_value[idx] =
 						math::constrain<uint16_t>(_min_value[idx] + (uint16_t)((_max_value[idx] - _min_value[idx]) * test_motor.value),
 									  _min_value[idx], _max_value[idx]);
 				}
@@ -767,20 +765,3 @@ MixingOutput::actualFailsafeValue(int index) const
 
 	return value;
 }
-
-int MixingOutput::reorderedMotorIndex(int index) const
-{
-	if ((MotorOrdering)_param_mot_ordering.get() == MotorOrdering::Betaflight) {
-		switch (index) {
-		case 0: return 1;
-
-		case 1: return 2;
-
-		case 2: return 3;
-
-		case 3: return 0;
-		}
-	}
-
-	return index;
-}

src/lib/mixer_module/mixer_module.hpp

@@ -186,13 +186,6 @@ public:
 	 */
 	uint16_t actualFailsafeValue(int index) const;
 
-	/**
-	 * Get the motor index that maps from PX4 convention to the configured one
-	 * @param index motor index in [0, num_motors-1]
-	 * @return reordered motor index. When out of range, the input index is returned
-	 */
-	int reorderedMotorIndex(int index) const;
-
 	void setIgnoreLockdown(bool ignore_lockdown) { _ignore_lockdown = ignore_lockdown; }
 
 	/**
@@ -244,11 +237,6 @@ private:
 		param_t failsafe{PARAM_INVALID};
 	};
 
-	enum class MotorOrdering : int32_t {
-		PX4 = 0,
-		Betaflight = 1
-	};
-
 	void lock() { do {} while (px4_sem_wait(&_lock) != 0); }
 	void unlock() { px4_sem_post(&_lock); }
 
@@ -319,7 +307,6 @@ private:
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,   ///< multicopter air-mode
 		(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
 		(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
-		(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering,
 		(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc
 
 	)

src/lib/mixer_module/params.c

@@ -16,20 +16,3 @@
  * @group Mixer Output
  */
 PARAM_DEFINE_INT32(MC_AIRMODE, 0);
-
-/**
- * Motor Ordering
- *
- * Determines the motor ordering. This can be used for example in combination with
- * a 4-in-1 ESC that assumes a motor ordering which is different from PX4.
- *
- * ONLY supported for Quads.
- *
- * When changing this, make sure to test the motor response without props first.
- *
- * @value 0 PX4
- * @value 1 Betaflight / Cleanflight
- *
- * @group Mixer Output
- */
-PARAM_DEFINE_INT32(MOT_ORDERING, 0);