Abstract class defining a mixer mixing zero or more inputs to one or more outputs. More...

#include <mixer.h>

Inheritance diagram for Mixer:

Public Types
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 Member Functions
	Mixer (ControlCallback control_cb, uintptr_t cb_handle)
	Constructor. More...

virtual unsigned	mix (float *outputs, unsigned space)=0
	Perform the mixing function. More...

virtual uint16_t	get_saturation_status (void)=0
	Get the saturation status. More...

virtual void	groups_required (uint32_t &groups)=0
	Analyses the mix configuration and updates a bitmask of groups that are required. More...

virtual void	set_max_delta_out_once (float delta_out_max)
	Empty method, only implemented for MultirotorMixer and MixerGroup class. More...

virtual unsigned	set_trim (float trim)=0
	Set trim offset for this mixer. More...

virtual unsigned	get_trim (float *trim)=0
	Get trim offset for this mixer. More...

virtual void	set_thrust_factor (float val)

virtual void	set_airmode (Airmode airmode)
	Set airmode. More...

Public Attributes
Mixer *	_next
	next mixer in a list

Protected Member Functions
float	get_control (uint8_t group, uint8_t index)
	Invoke the client callback to fetch a control value. More...

Static Protected Member Functions
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
ControlCallback	_control_cb
	client-supplied callback used when fetching control values

uintptr_t	_cb_handle

Detailed Description

Abstract class defining a mixer mixing zero or more inputs to one or more outputs.

Member Typedef Documentation

§ ControlCallback

typedef int(* Mixer::ControlCallback) (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)

Fetch a control value.

Parameters

handle	Token passed when the callback is registered.
control_group	The group to fetch the control from.
control_index	The group-relative index to fetch the control from.
control	The returned control

Returns: Zero if the value was fetched, nonzero otherwise.

Constructor & Destructor Documentation

§ Mixer()

Mixer::Mixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle
	)

Constructor.

Parameters

control_cb Callback invoked when reading controls.

Member Function Documentation

§ findnexttag()

char Mixer::findnexttag	(	const char *	buf,
		unsigned	buflen
	)

staticprotected

Find next tag and return it (0 is returned if no tag is found)

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.

§ findtag()

const char * Mixer::findtag	(	const char *	buf,
		unsigned &	buflen,
		char	tag
	)

staticprotected

Find a tag.

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.
tag	character to search for.

§ get_control()

float Mixer::get_control	(	uint8_t	group,
		uint8_t	index
	)

protected

Invoke the client callback to fetch a control value.

Parameters

group	Control group to fetch from.
index	Control index to fetch.

Returns: The control value.

§ get_saturation_status()

virtual uint16_t Mixer::get_saturation_status ( void )

pure virtual

Get the saturation status.

Returns: Integer bitmask containing saturation_status from multirotor_motor_limits.msg.

Implemented in HelicopterMixer, MultirotorMixer, SimpleMixer, NullMixer, and MixerGroup.

§ get_trim()

virtual unsigned Mixer::get_trim ( float * trim )

pure virtual

Get trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Implemented in HelicopterMixer, MultirotorMixer, SimpleMixer, NullMixer, and MixerGroup.

§ groups_required()

virtual void Mixer::groups_required ( uint32_t & groups )

pure virtual

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.

Implemented in HelicopterMixer, MultirotorMixer, SimpleMixer, NullMixer, and MixerGroup.

§ mix()

virtual unsigned Mixer::mix	(	float *	outputs,
		unsigned	space
	)

pure virtual

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.

Implemented in HelicopterMixer, MultirotorMixer, SimpleMixer, NullMixer, and MixerGroup.

§ scale()

float Mixer::scale	(	const mixer_scaler_s &	scaler,
		float	input
	)

staticprotected

Perform simpler linear scaling.

Parameters

scaler	The scaler configuration.
input	The value to be scaled.

Returns: The scaled value.

§ scale_check()

int Mixer::scale_check ( struct mixer_scaler_s & scaler )

staticprotected

Validate a scaler.

Parameters

scaler The scaler to be validated.

Returns: Zero if good, nonzero otherwise.

§ set_airmode()

virtual void Mixer::set_airmode ( Airmode airmode )

inlinevirtual

Set airmode.

Airmode allows the mixer to increase the total thrust in order to unsaturate the motors.

Parameters

[in] airmode Select airmode type (0 = disabled, 1 = roll/pitch, 2 = roll/pitch/yaw)

Reimplemented in MultirotorMixer, and MixerGroup.

§ set_max_delta_out_once()

virtual void Mixer::set_max_delta_out_once ( float delta_out_max )

inlinevirtual

Empty method, only implemented for MultirotorMixer and MixerGroup class.

Parameters

[in] delta_out_max Maximum delta output.

Reimplemented in MultirotorMixer, and MixerGroup.

§ set_trim()

virtual unsigned Mixer::set_trim ( float trim )

pure virtual

Set trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Implemented in HelicopterMixer, MultirotorMixer, SimpleMixer, NullMixer, and MixerGroup.

§ skipline()

const char * Mixer::skipline	(	const char *	buf,
		unsigned &	buflen
	)

staticprotected

Skip a line.

Parameters

buf	The buffer to operate on.
buflen	length of the buffer.

Returns: 0 / OK if a line could be skipped, 1 else

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

src/lib/mixer/mixer.h
src/lib/mixer/mixer.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

§ ControlCallback

Constructor & Destructor Documentation

§ Mixer()

Member Function Documentation

§ findnexttag()

§ findtag()

§ get_control()

§ get_saturation_status()

§ get_trim()

§ groups_required()

§ mix()

§ scale()

§ scale_check()

§ set_airmode()

§ set_max_delta_out_once()

§ set_trim()

§ skipline()