Merge pull request #50 from raul-ortega/development

Development

src/main/blackbox/blackbox.c

@@ -1413,7 +1413,7 @@ void handleBlackbox(void)
 
 static bool canUseBlackboxWithCurrentConfiguration(void)
 {
-    return feature(FEATURE_BLACKBOX);
+    return false;//feature(FEATURE_BLACKBOX);
 }
 
 /**

src/main/config/config.c

@@ -399,11 +399,7 @@ static void resetConf(void)
     setControlRateProfile(0);
 
     masterConfig.version = EEPROM_CONF_VERSION;
-#if defined(SPRACINGF3)
-    masterConfig.mixerMode = MIXER_FLYING_WING;
-#else
     masterConfig.mixerMode = MIXER_QUADX;
-#endif
     featureClearAll();
     //////// Nueva Líneas
     featureSet(FEATURE_SERVO_TILT);
@@ -675,7 +671,7 @@ static void resetConf(void)
 /////////////////////////////
     //TRACKER CONFIG
 
-    featureSet(FEATURE_SOFTSERIAL);
+    //featureSet(FEATURE_SOFTSERIAL);
 
     //Serial 1
     masterConfig.serialConfig.portConfigs[0].identifier = SERIAL_PORT_USART1;
@@ -685,6 +681,7 @@ static void resetConf(void)
     masterConfig.serialConfig.portConfigs[1].identifier = SERIAL_PORT_USART2;
     masterConfig.serialConfig.portConfigs[1].gps_baudrateIndex = BAUD_9600;
     masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_GPS;
+
     //Softserial 1
     /*masterConfig.serialConfig.portConfigs[2].identifier = SERIAL_PORT_SOFTSERIAL1;
     masterConfig.serialConfig.portConfigs[2].telemetry_baudrateIndex = BAUD_9600;
@@ -703,6 +700,7 @@ static void resetConf(void)
     masterConfig.max_pid_divider = 15;
 
     //PAN
+    masterConfig.pan_pin = 0;
     masterConfig.pan0 = 1500;
     pwmPan0 = masterConfig.pan0;
     masterConfig.pan_calibration_pulse = 1400;
@@ -719,19 +717,20 @@ static void resetConf(void)
     masterConfig.mag_calibrated = 0;
 
     //TILT
+    masterConfig.tilt_pin = 1;
     masterConfig.tilt0 = 500;
     masterConfig.tilt90 = 1400;
     masterConfig.tilt_max_angle = 0;
 
     //EASING
-    featureSet(FEATURE_EASING);
+    //featureSet(FEATURE_EASING);
     masterConfig.easing = 2 ;
     masterConfig.easing_steps = 60;
     masterConfig.easing_min_angle = 4;
     masterConfig.easing_millis = 15;
 
 	//NOPID feature by default
-	featureSet(FEATURE_NOPID);
+	//featureSet(FEATURE_NOPID);
     masterConfig.nopid_min_delta = 0.2;
     masterConfig.nopid_max_speed = 200;
     masterConfig.nopid_map_angle = 90;
@@ -744,7 +743,7 @@ static void resetConf(void)
    	masterConfig.telemetry_provider = 0;
 
     //Display
-   	featureSet(FEATURE_DISPLAY);
+   	//featureSet(FEATURE_DISPLAY);
 
    	//GPS
    	featureClear(FEATURE_GPS);
@@ -764,19 +763,22 @@ static void resetConf(void)
    	// FILTERS
    	masterConfig.max_speed_filter = 0;
    	//VBAT
-   	featureSet(FEATURE_VBAT);
+   	//featureSet(FEATURE_VBAT);
 
    	//BUTTONS
    	masterConfig.min_logic_level=60;
 
    	//TELEMETRY OUT
-   	featureSet(FEATURE_TELEMETRY);
+   	//featureSet(FEATURE_TELEMETRY);
 
    	//RSSI
    	//featureSet(FEATURE_RSSI_ADC);
    	masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
    	masterConfig.rxConfig.rssi_zoom = 35;
 
+   	//ALTITUDE
+   	masterConfig.altitude_priority = 0;
+
 /////////////////////////////
 
     // copy first profile into remaining profile

src/main/config/config.h

@@ -42,6 +42,7 @@ typedef enum {
 	FEATURE_RX_PPM = 1 << 15,*/
 } features_e;
 
+uint8_t pwmPanPin;
 uint16_t pwmPan0;
 uint16_t pwmPanCalibrationPulse;
 

src/main/config/config_master.h

@@ -112,12 +112,14 @@ typedef struct master_t {
     uint16_t max_pid_gain;
     uint8_t max_pid_divider;
     // EASING
+    uint8_t pan_pin;
     uint16_t pan0;
     uint8_t pan0_calibrated;
     uint8_t mag_calibrated;
     uint8_t min_pan_speed;
     int16_t offset;
     int8_t offset_trim;
+    uint8_t tilt_pin;
 	uint16_t tilt0;
 	uint16_t tilt90;
 	uint8_t tilt_max_angle;
@@ -147,6 +149,7 @@ typedef struct master_t {
 	uint8_t update_home_by_local_gps;
 	uint16_t pan_calibration_pulse;
 	uint8_t max_speed_filter;
+	uint8_t altitude_priority;
 } master_t;
 
 extern master_t masterConfig;

src/main/drivers/pwm_mapping.c

@@ -78,10 +78,10 @@ enum {
 #if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC) || defined(PORT103R)
 static const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),     // Swap to servo if needed
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),      // Swap to servo if needed
+    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),     // Swap to servo if needed
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed
@@ -329,10 +329,10 @@ static const uint16_t airPWM[] = {
 static const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT    << 8), // PPM input
 
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+    PWM9  | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+    PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
     PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),

src/main/flight/gtune.c

@@ -185,7 +185,7 @@ void calculate_Gtune(uint8_t axis)
                 }
                 int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
 
-#ifdef BLACKBOX
+/*#ifdef BLACKBOX
                 if (feature(FEATURE_BLACKBOX)) {
                     flightLogEvent_gtuneCycleResult_t eventData;
 
@@ -194,7 +194,7 @@ void calculate_Gtune(uint8_t axis)
                     eventData.gtuneNewP = newP;                                 // for float PID the logged P value is still mutiplyed by 10
                     blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
                 }
-#endif
+#endif*/
 
                 if (floatPID) {
                     pidProfile->P_f[axis] = (float)newP / 10.0f;                // new P value for float PID

src/main/io/rc_controls.c

@@ -76,13 +76,13 @@ void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction,
     UNUSED(adjustmentFunction);
     UNUSED(newValue);
 #else
-    if (feature(FEATURE_BLACKBOX)) {
+/*    if (feature(FEATURE_BLACKBOX)) {
         flightLogEvent_inflightAdjustment_t eventData;
         eventData.adjustmentFunction = adjustmentFunction;
         eventData.newValue = newValue;
         eventData.floatFlag = false;
         blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
-    }
+    }*/
 #endif
 }
 
@@ -91,13 +91,13 @@ void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunc
     UNUSED(adjustmentFunction);
     UNUSED(newFloatValue);
 #else
-    if (feature(FEATURE_BLACKBOX)) {
+    /*if (feature(FEATURE_BLACKBOX)) {
         flightLogEvent_inflightAdjustment_t eventData;
         eventData.adjustmentFunction = adjustmentFunction;
         eventData.newFloatValue = newFloatValue;
         eventData.floatFlag = true;
         blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
-    }
+    }*/
 #endif
 }
 

src/main/io/serial_cli.c

@@ -354,6 +354,10 @@ static const char * const lookupTabletelemetryProvider[] = {
     "NONE", "DIY_GPS","INAV","APM10"
 };
 
+static const char * const lookupTableAltitudePriority[] = {
+	"BARO","GPS"
+};
+
 static const char * const lookupTabletelemetryHome[] = {
     "DEFAULT", "AUTO"
 };
@@ -405,6 +409,7 @@ typedef enum {
     TABLE_UNIT,
     TABLE_ALIGNMENT,
 	TABLE_TELEMETRY_PROVIDER,
+	TABLE_ALTITUDE_PRIORITY,
 	TABLE_TELEMETRY_HOME,
 #ifdef GPS
     TABLE_GPS_PROVIDER,
@@ -424,6 +429,7 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableUnit, sizeof(lookupTableUnit) / sizeof(char *) },
     { lookupTableAlignment, sizeof(lookupTableAlignment) / sizeof(char *) },
 	{ lookupTabletelemetryProvider, sizeof(lookupTabletelemetryProvider) / sizeof(char *) },
+	{ lookupTableAltitudePriority, sizeof(lookupTableAltitudePriority) / sizeof(char *) },
 	{ lookupTabletelemetryHome, sizeof(lookupTabletelemetryHome) / sizeof(char *) },
 #ifdef GPS
     { lookupTableGPSProvider, sizeof(lookupTableGPSProvider) / sizeof(char *) },
@@ -551,7 +557,7 @@ const clivalue_t valueTable[] = {
 */
 #endif
 
-/*    { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
+/*  { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED,  SPEKTRUM_SAT_BIND_MAX} },
 
     { "telemetry_switch",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.telemetry_switch, .config.lookup = { TABLE_OFF_ON } },*/
@@ -568,23 +574,21 @@ const clivalue_t valueTable[] = {
     { "vbat_max_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmaxcellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_min_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmincellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_warning_cell_voltage",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatwarningcellvoltage, .config.minmax = { 10,  50 } },
-//    { "current_meter_scale",        VAR_INT16  | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -10000,  10000 } },
-//    { "current_meter_offset",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { 0,  3300 } },
-//    { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
-//    { "current_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
-/*
+//  { "current_meter_scale",        VAR_INT16  | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -10000,  10000 } },
+//  { "current_meter_offset",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { 0,  3300 } },
+//  { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
+//  { "current_meter_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
     { "align_gyro",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
-    { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
-*/  { "align_mag",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },
-/*
+//  { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
+	{ "align_mag",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },
+
     { "align_board_roll",           VAR_INT16  | MASTER_VALUE,  &masterConfig.boardAlignment.rollDegrees, .config.minmax = { -180,  360 } },
     { "align_board_pitch",          VAR_INT16  | MASTER_VALUE,  &masterConfig.boardAlignment.pitchDegrees, .config.minmax = { -180,  360 } },
     { "align_board_yaw",            VAR_INT16  | MASTER_VALUE,  &masterConfig.boardAlignment.yawDegrees, .config.minmax = { -180,  360 } },
-
-    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.max_angle_inclination, .config.minmax = { 100,  900 } },
+//  { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.max_angle_inclination, .config.minmax = { 100,  900 } },
 
     { "gyro_lpf",                   VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_lpf, .config.minmax = { 0,  256 } },
-    { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0,  128 } },
+/*  { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0,  128 } },
     { "gyro_cmpf_factor",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_cmpf_factor, .config.minmax = { 100,  1000 } },
     { "gyro_cmpfm_factor",          VAR_UINT16 | MASTER_VALUE,  &masterConfig.gyro_cmpfm_factor, .config.minmax = { 100,  1000 } },
 
@@ -720,13 +724,15 @@ const clivalue_t valueTable[] = {
 	{ "max_pid_accumulator",        VAR_UINT16  | TRACKER_VALUE, &masterConfig.max_pid_accumulator, .config.minmax = { 0,  50000 } },
 	{ "max_pid_gain",           	VAR_UINT16  | TRACKER_VALUE, &masterConfig.max_pid_gain, .config.minmax = { 0,  5000 } },
 	{ "pid_divider",           		VAR_UINT8  | TRACKER_VALUE, &masterConfig.max_pid_divider, .config.minmax = { 0,  255 } },
+	{ "pan_pin",           		    VAR_UINT8  | TRACKER_VALUE, &masterConfig.pan_pin, .config.minmax = { 0,  7 } },
 	{ "pan0",           			VAR_UINT16  | TRACKER_VALUE, &masterConfig.pan0, .config.minmax = { 0,  3000 } },
 	{ "pan0_calibrated",          	VAR_UINT8  | TRACKER_VALUE, &masterConfig.pan0_calibrated, .config.minmax = { 0,  1 } },
 	{ "pan_calibration_pulse",		VAR_UINT16  | TRACKER_VALUE, &masterConfig.pan_calibration_pulse, .config.minmax = { 1,  1500 } },
-	{ "min_pan_speed",     			VAR_INT8   | TRACKER_VALUE, &masterConfig.min_pan_speed, .config.minmax = { 0,  100 } },
+	{ "min_pan_speed",     			VAR_UINT8   | TRACKER_VALUE, &masterConfig.min_pan_speed, .config.minmax = { 0,  100 } },
 	{ "offset",     				VAR_INT16  | TRACKER_VALUE, &masterConfig.offset, .config.minmax = { -360,  360 } },
 	{ "offset_trim",   				VAR_INT8   | TRACKER_VALUE, &masterConfig.offset_trim, .config.minmax = { -20,  20 } },
 	{ "init_servos",    			VAR_UINT8  | TRACKER_VALUE, &masterConfig.init_servos, .config.minmax = { 0,  1 } },
+	{ "tilt_pin",           		VAR_UINT8  | TRACKER_VALUE, &masterConfig.tilt_pin, .config.minmax = { 0,  7 } },
 	{ "tilt0",           			VAR_UINT16  | TRACKER_VALUE, &masterConfig.tilt0, .config.minmax = { 0,  3000 } },
 	{ "tilt90",           			VAR_UINT16  | TRACKER_VALUE, &masterConfig.tilt90, .config.minmax = { 0,  3000 } },
 	{ "tilt_max_angle",         	VAR_UINT8  | TRACKER_VALUE, &masterConfig.tilt_max_angle, .config.minmax = { 0,  90 } },
@@ -757,7 +763,8 @@ const clivalue_t valueTable[] = {
     { "eps_interpolation",   	    VAR_UINT8 | TRACKER_VALUE | MODE_LOOKUP, &masterConfig.eps_interpolation, .config.lookup = { TABLE_OFF_ON } },
 	{ "eps_interpolation_points",   VAR_UINT8 | TRACKER_VALUE, &masterConfig.eps_interpolation_points, .config.minmax = { 2,  10 } },
     { "update_home_by_local_gps",   VAR_UINT8 | TRACKER_VALUE | MODE_LOOKUP, &masterConfig.update_home_by_local_gps, .config.lookup = { TABLE_OFF_ON } },
-	{ "max_speed_filter",   	    VAR_UINT8 | TRACKER_VALUE, &masterConfig.max_speed_filter, .config.minmax = { 0,  255 } }
+	{ "max_speed_filter",   	    VAR_UINT8 | TRACKER_VALUE, &masterConfig.max_speed_filter, .config.minmax = { 0,  255 } },
+	{ "telemetry_altitude_priority",   VAR_UINT8 | TRACKER_VALUE | MODE_LOOKUP, &masterConfig.altitude_priority, .config.lookup = {TABLE_ALTITUDE_PRIORITY} }
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
@@ -2530,7 +2537,7 @@ static void cliSetPanServoSpeed()
 {
 	masterConfig.pan0_calibrated=0;
 	pwmPan0=masterConfig.pan0;
-   	pwmWritePanServo(masterConfig.pan0);
+   	pwmWriteServo(masterConfig.pan_pin,masterConfig.pan0);
    	cliPrint("\r\nWhen pan servo stops moving then you must set parameter pan0_calibrated to 1.\r\n");
 }
 static void cliSetOffset()
@@ -2571,7 +2578,7 @@ static void cliDumpTracker() {
 
 	printSectionBreak();
 
-	cliPrint("\r\n\r\n# feature\r\n");
+	cliPrint("\r\n\r\n# parameters\r\n");
 
 	dumpValues(TRACKER_VALUE);
 }

src/main/io/serial_msp.c

@@ -705,11 +705,11 @@ void mspInit(serialConfig_t *serialConfig)
     }
 #endif
 
-#ifdef BLACKBOX
+/*#ifdef BLACKBOX
     if (feature(FEATURE_BLACKBOX)){
         activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
     }
-#endif
+#endif*/
 
     /*if (feature(FEATURE_FAILSAFE)){
         activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;

src/main/main.c

@@ -474,7 +474,7 @@ void init(void)
     if (masterConfig.mixerMode == MIXER_GIMBAL) {
         //accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
     }
-    //gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+    gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
 #ifdef BARO
     //baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
 #endif

src/main/mw.c

@@ -305,11 +305,11 @@ void mwDisarm(void)
     if (ARMING_FLAG(ARMED)) {
         DISABLE_ARMING_FLAG(ARMED);
 
-#ifdef BLACKBOX
+/*#ifdef BLACKBOX
         if (feature(FEATURE_BLACKBOX)) {
             finishBlackbox();
         }
-#endif
+#endif*/
 
         beeper(BEEPER_DISARMING);      // emit disarm tone
     }

src/main/sensors/compass.c

@@ -45,10 +45,13 @@
 #include "tracker/config.h"
 #include "io/display.h"
 
+#include "tracker/servos.h"
+
 mag_t mag;                   // mag access functions
 
 extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
 
+extern uint8_t pwmPanPin;
 extern uint16_t pwmPan0;
 extern uint16_t pwmPanCalibrationPulse;
 
@@ -97,7 +100,7 @@ void updateCompass(flightDynamicsTrims_t *magZero)
 			displayShowFixedPage(PAGE_CALIBRATING_MAG);
 			displayResetPageCycling();
 			displayDisablePageCycling();
-			pwmWriteServo(panServo, pwmPanCalibrationPulse);
+			pwmWriteServo(pwmPanPin, pwmPanCalibrationPulse);
 		}
 
 		if (magInit) {              // we apply offset only once mag calibration is done
@@ -120,7 +123,7 @@ void updateCompass(flightDynamicsTrims_t *magZero)
 				for (axis = 0; axis < 3; axis++) {
 					magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
 				}
-				pwmWriteServo(panServo, pwmPan0);
+				pwmWriteServo(pwmPanPin, pwmPan0);
 				DISABLE_PROTOCOL(TP_CALIBRATING_MAG);
 
 				if(cliMode && feature(FEATURE_DISPLAY)) {