Group of mixers, built up from single mixers and processed in order when mixing. More...

#include <mixer.h>

Inheritance diagram for MixerGroup:

Public Member Functions
	MixerGroup (ControlCallback control_cb, uintptr_t cb_handle)

unsigned	mix (float *outputs, unsigned space) override
	Perform the mixing function. More...

uint16_t	get_saturation_status (void) override
	Get the saturation status. More...

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

void	add_mixer (Mixer *mixer)
	Add a mixer to the group. More...

void	reset ()
	Remove all the mixers from the group.

unsigned	count ()
	Count the mixers in the group.

int	load_from_buf (const char *buf, unsigned &buflen)
	Adds mixers to the group based on a text description in a buffer. More...

void	set_max_delta_out_once (float delta_out_max) override
	Update slew rate parameter. More...

unsigned	set_trims (int16_t *v, unsigned n)

unsigned	set_trim (float trim) override
	Set trim offset for this mixer. More...

unsigned	get_trims (int16_t *values)

unsigned	get_trim (float *trim) override
	Get trim offset for this mixer. More...

void	set_thrust_factor (float val) override
	Sets the thrust factor used to calculate mapping from desired thrust to pwm. More...

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

Public Member Functions inherited from Mixer
	Mixer (ControlCallback control_cb, uintptr_t cb_handle)
	Constructor. 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

Group of mixers, built up from single mixers and processed in order when mixing.

Member Function Documentation

§ add_mixer()

void MixerGroup::add_mixer ( Mixer * mixer )

Add a mixer to the group.

Parameters

mixer The mixer to be added.

§ get_saturation_status()

uint16_t MixerGroup::get_saturation_status ( void )

overridevirtual

Get the saturation status.

Returns: Integer bitmask containing saturation_status from multirotor_motor_limits.msg.

Implements Mixer.

§ get_trim()

unsigned MixerGroup::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 MixerGroup::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.

§ load_from_buf()

int MixerGroup::load_from_buf	(	const char *	buf,
		unsigned &	buflen
	)

Adds mixers to the group based on a text description in a buffer.

Mixer definitions begin with a single capital letter and a colon. The actual format of the mixer definition varies with the individual mixers; they are summarised here, but see ROMFS/mixers/README for more details.

Null Mixer ..........

The null mixer definition has the form:

Z:

Simple Mixer ............

A simple mixer definition begins with:

M: <control count>=""> O: <-ve scale> <+ve scale> <offset> <lower limit>=""> <upper limit>="">

The second line O: can be omitted. In that case 'O: 10000 10000 0 -10000 10000' is used. The definition continues with <control count>=""> entries describing the control inputs and their scaling, in the form:

S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit>=""> <upper limit>="">

Multirotor Mixer ................

The multirotor mixer definition is a single line of the form:

R: <geometry> <roll scale>=""> <pitch scale>=""> <yaw scale>=""> <deadband>

Helicopter Mixer ................

The helicopter mixer includes throttle and pitch curves

H: <swash plate="" servo="" count>=""> T: <0> <2500> <5000> <7500> <10000> P: <-10000> <-5000> <0> <5000> <10000>

The definition continues with <swash plate="" servo="" count>=""> entries describing the position of the servo, in the following form:

S: <angle (deg)> <normalized arm="" length>=""> <scale> <offset> <lower limit>=""> <upper limit>="">

Parameters

buf	The mixer configuration buffer.
buflen	The length of the buffer, updated to reflect bytes as they are consumed.

Returns: Zero on successful load, nonzero otherwise.

§ mix()

unsigned MixerGroup::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_airmode()

void MixerGroup::set_airmode ( Airmode airmode )

overridevirtual

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 from Mixer.

§ set_max_delta_out_once()

void MixerGroup::set_max_delta_out_once ( float delta_out_max )

overridevirtual

Update slew rate parameter.

This tells instances of the class MultirotorMixer the maximum allowed change of the output values per cycle. The value is only valid for one cycle, in order to have continuous slew rate limiting this function needs to be called before every call to mix().

Parameters

[in] delta_out_max Maximum delta output.

Reimplemented from Mixer.

§ set_thrust_factor()

void MixerGroup::set_thrust_factor ( float val )

overridevirtual

Sets the thrust factor used to calculate mapping from desired thrust to pwm.

Parameters

[in] val The value

Reimplemented from Mixer.

§ set_trim()

unsigned MixerGroup::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_group.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

§ add_mixer()

§ get_saturation_status()

§ get_trim()

§ groups_required()

§ load_from_buf()

§ mix()

§ set_airmode()

§ set_max_delta_out_once()

§ set_thrust_factor()

§ set_trim()