Multi-rotor mixer for pre-defined vehicle geometries. More...

#include <mixer.h>

Inheritance diagram for MultirotorMixer:

Classes
struct	Rotor
	Precalculated rotor mix. More...

union	saturation_status

Public Member Functions
	MultirotorMixer (ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry, float roll_scale, float pitch_scale, float yaw_scale, float idle_speed)
	Constructor. More...

	MultirotorMixer (ControlCallback control_cb, uintptr_t cb_handle, Rotor *rotors, unsigned rotor_count)
	Constructor (for testing). More...

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

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...

Static Public Member Functions
static MultirotorMixer *	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

Multi-rotor mixer for pre-defined vehicle geometries.

Collects four inputs (roll, pitch, yaw, thrust) and mixes them to a set of outputs based on the configured geometry.

Constructor & Destructor Documentation

§ MultirotorMixer() [1/2]

MultirotorMixer::MultirotorMixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle,
		MultirotorGeometry	geometry,
		float	roll_scale,
		float	pitch_scale,
		float	yaw_scale,
		float	idle_speed
	)

Constructor.

Parameters

control_cb	Callback invoked to read inputs.
cb_handle	Passed to control_cb.
geometry	The selected geometry.
roll_scale	Scaling factor applied to roll inputs compared to thrust.
pitch_scale	Scaling factor applied to pitch inputs compared to thrust.
yaw_wcale	Scaling factor applied to yaw inputs compared to thrust.
idle_speed	Minimum rotor control output value; usually tuned to ensure that rotors never stall at the low end of their control range.

§ MultirotorMixer() [2/2]

MultirotorMixer::MultirotorMixer	(	ControlCallback	control_cb,
		uintptr_t	cb_handle,
		Rotor *	rotors,
		unsigned	rotor_count
	)

Constructor (for testing).

Parameters

control_cb	Callback invoked to read inputs.
cb_handle	Passed to control_cb.
rotors	control allocation matrix
rotor_count	length of rotors array (= number of motors)

Member Function Documentation

§ from_text()

MultirotorMixer * MultirotorMixer::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 MultirotorMixer instance, or nullptr if the text format is bad.

§ get_saturation_status()

uint16_t MultirotorMixer::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 MultirotorMixer::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 MultirotorMixer::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 MultirotorMixer::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 MultirotorMixer::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 MultirotorMixer::set_max_delta_out_once ( float delta_out_max )

inlineoverridevirtual

Update slew rate parameter.

This tells the multicopter mixer 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 MultirotorMixer::set_thrust_factor ( float val )

inlineoverridevirtual

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

Parameters

[in] val The value

Reimplemented from Mixer.

§ set_trim()

unsigned MultirotorMixer::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_multirotor.cpp

Classes

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ MultirotorMixer() [1/2]

§ MultirotorMixer() [2/2]

Member Function Documentation

§ from_text()

§ get_saturation_status()

§ get_trim()

§ groups_required()

§ mix()

§ set_airmode()

§ set_max_delta_out_once()

§ set_thrust_factor()

§ set_trim()