HelicopterMixer Class Reference

Generic helicopter mixer for helicopters with swash plate. More...

#include <mixer.h>

Inheritance diagram for HelicopterMixer:

Public Member Functions
	HelicopterMixer (ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s *mixer_info)
	Constructor. More...
unsigned	mix (float *outputs, unsigned space) override
	Perform the mixing function. More...
void	groups_required (uint32_t &groups) override
	Analyses the mix configuration and updates a bitmask of groups that are required. More...
uint16_t	get_saturation_status (void) override
	Get the saturation status. More...
unsigned	set_trim (float trim) override
	Set trim offset for this mixer. More...
unsigned	get_trim (float *trim) override
	Get trim offset for this mixer. More...
Public Member Functions inherited from Mixer
	Mixer (ControlCallback control_cb, uintptr_t cb_handle)
	Constructor. More...
virtual void	set_max_delta_out_once (float delta_out_max)
	Empty method, only implemented for MultirotorMixer and MixerGroup class. More...
virtual void	set_thrust_factor (float val)
virtual void	set_airmode (Airmode airmode)
	Set airmode. More...

Static Public Member Functions
static HelicopterMixer *	from_text (Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
	Factory method. More...

Additional Inherited Members
Public Types inherited from Mixer
enum	Airmode : int32_t { disabled = 0, roll_pitch = 1, roll_pitch_yaw = 2 }
typedef int(*	ControlCallback) (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)
	Fetch a control value. More...
Public Attributes inherited from Mixer
Mixer *	_next
	next mixer in a list
Protected Member Functions inherited from Mixer
float	get_control (uint8_t group, uint8_t index)
	Invoke the client callback to fetch a control value. More...
Static Protected Member Functions inherited from Mixer
static float	scale (const mixer_scaler_s &scaler, float input)
	Perform simpler linear scaling. More...
static int	scale_check (struct mixer_scaler_s &scaler)
	Validate a scaler. More...
static const char *	findtag (const char *buf, unsigned &buflen, char tag)
	Find a tag. More...
static char	findnexttag (const char *buf, unsigned buflen)
	Find next tag and return it (0 is returned if no tag is found) More...
static const char *	skipline (const char *buf, unsigned &buflen)
	Skip a line. More...
static bool	string_well_formed (const char *buf, unsigned &buflen)
	Check wether the string is well formed and suitable for parsing.
Protected Attributes inherited from Mixer
ControlCallback	_control_cb
	client-supplied callback used when fetching control values
uintptr_t	_cb_handle

Detailed Description

Generic helicopter mixer for helicopters with swash plate.

Collects four inputs (roll, pitch, yaw, thrust) and mixes them to servo commands for swash plate tilting and throttle- and pitch curves.

Constructor & Destructor Documentation

HelicopterMixer()

HelicopterMixer::HelicopterMixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle,
		mixer_heli_s *	mixer_info
	)

Constructor.

Parameters

control_cb	Callback invoked to read inputs.
cb_handle	Passed to control_cb.
mixer_info	Pointer to heli mixer configuration

Member Function Documentation

from_text()

HelicopterMixer * HelicopterMixer::from_text ( Mixer::ControlCallback  control_cb, uintptr_t  cb_handle, const char *  buf, unsigned &  buflen  )

static

Factory method.

Given a pointer to a buffer containing a text description of the mixer, returns a pointer to a new instance of the mixer.

Parameters

control_cb	The callback to invoke when fetching a control value.
cb_handle	Handle passed to the control callback.
buf	Buffer containing a text description of the mixer.
buflen	Length of the buffer in bytes, adjusted to reflect the bytes consumed.

Returns

A new HelicopterMixer instance, or nullptr if the text format is bad.

get_saturation_status()

uint16_t HelicopterMixer::get_saturation_status ( void  )

inlineoverridevirtual

Get the saturation status.

Returns

Integer bitmask containing saturation_status from multirotor_motor_limits.msg.

Implements Mixer.

get_trim()

unsigned HelicopterMixer::get_trim ( float *  trim )

inlineoverridevirtual

Get trim offset for this mixer.

Returns

the number of outputs this mixer feeds to

Implements Mixer.

groups_required()

void HelicopterMixer::groups_required ( uint32_t &  groups )

overridevirtual

Analyses the mix configuration and updates a bitmask of groups that are required.

Parameters

groups

A bitmask of groups (0-31) that the mixer requires.

Implements Mixer.

mix()

unsigned HelicopterMixer::mix ( float *  outputs, unsigned  space  )

overridevirtual

Perform the mixing function.

Parameters

outputs	Array into which mixed output(s) should be placed.
space	The number of available entries in the output array;

Returns

The number of entries in the output array that were populated.

Implements Mixer.

set_trim()

unsigned HelicopterMixer::set_trim ( float  trim )

inlineoverridevirtual

Set trim offset for this mixer.

Returns

the number of outputs this mixer feeds to

Implements Mixer.

---

The documentation for this class was generated from the following files:

• src/lib/mixer/mixer.h
• src/lib/mixer/mixer_helicopter.cpp