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

#include <HelicopterMixer.hpp>

Inheritance diagram for HelicopterMixer:

Collaboration diagram for HelicopterMixer:

Public Member Functions
	HelicopterMixer (ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s mixer_info)
	Constructor. More...

virtual	~HelicopterMixer ()=default

	HelicopterMixer (const HelicopterMixer &)=delete

HelicopterMixer &	operator= (const HelicopterMixer &)=delete

	HelicopterMixer (HelicopterMixer &&)=delete

HelicopterMixer &	operator= (HelicopterMixer &&)=delete

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...

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	~Mixer ()=default

	Mixer (const Mixer &)=delete

Mixer &	operator= (const Mixer &)=delete

	Mixer (Mixer &&)=delete

Mixer &	operator= (Mixer &&)=delete

virtual uint16_t	get_saturation_status ()
	Get the saturation status. 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...

virtual unsigned	get_multirotor_count ()

Public Member Functions inherited from ListNode< Mixer *>
void	setSibling (Mixer * sibling)

const Mixer *	getSibling () const

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

Private Attributes
mixer_heli_s	_mixer_info

Additional Inherited Members
Public Types inherited from Mixer
enum	Airmode : int32_t { Airmode::disabled = 0, Airmode::roll_pitch = 1, Airmode::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...

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 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. More...

Protected Attributes inherited from Mixer
ControlCallback	_control_cb
	client-supplied callback used when fetching control values More...

uintptr_t	_cb_handle

Protected Attributes inherited from ListNode< Mixer *>
Mixer *	_list_node_sibling

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.

Definition at line 64 of file HelicopterMixer.hpp.

Constructor & Destructor Documentation

◆ HelicopterMixer() [1/3]

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

Definition at line 53 of file HelicopterMixer.cpp.

Referenced by from_text().

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◆ ~HelicopterMixer()

virtual HelicopterMixer::~HelicopterMixer ( )

virtualdefault

◆ HelicopterMixer() [2/3]

HelicopterMixer::HelicopterMixer ( const HelicopterMixer & )

delete

◆ HelicopterMixer() [3/3]

HelicopterMixer::HelicopterMixer ( HelicopterMixer && )

delete

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.

Definition at line 60 of file HelicopterMixer.cpp.

References mixer_heli_servo_s::angle, mixer_heli_servo_s::arm_length, mixer_heli_s::control_count, debug, Mixer::findtag(), HELI_CURVES_NR_POINTS, HelicopterMixer(), M_PI_F, mixer_heli_servo_s::max_output, mixer_heli_servo_s::min_output, mixer_heli_servo_s::offset, mixer_heli_s::pitch_curve, mixer_heli_servo_s::scale, mixer_heli_s::servos, Mixer::skipline(), Mixer::string_well_formed(), and mixer_heli_s::throttle_curve.

Referenced by MixerGroup::load_from_buf().

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◆ get_trim()

unsigned HelicopterMixer::get_trim ( float * trim )

inlineoverridevirtual

Get trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Reimplemented from Mixer.

Definition at line 107 of file HelicopterMixer.hpp.

◆ groups_required()

void HelicopterMixer::groups_required ( uint32_t & groups )

inlineoverridevirtual

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.

Reimplemented from Mixer.

Definition at line 104 of file HelicopterMixer.hpp.

◆ 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.

Definition at line 196 of file HelicopterMixer.cpp.

References _mixer_info, mixer_heli_servo_s::angle, mixer_heli_servo_s::arm_length, math::constrain(), mixer_heli_s::control_count, f(), Mixer::get_control(), HELI_CURVES_NR_POINTS, mixer_heli_servo_s::max_output, mixer_heli_servo_s::min_output, mixer_heli_servo_s::offset, mixer_heli_s::pitch_curve, mixer_heli_servo_s::scale, mixer_heli_s::servos, and mixer_heli_s::throttle_curve.

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◆ operator=() [1/2]

HelicopterMixer& HelicopterMixer::operator= ( const HelicopterMixer & )

delete

◆ operator=() [2/2]

HelicopterMixer& HelicopterMixer::operator= ( HelicopterMixer && )

delete

◆ set_trim()

unsigned HelicopterMixer::set_trim ( float trim )

inlineoverridevirtual

Set trim offset for this mixer.

Returns: the number of outputs this mixer feeds to

Reimplemented from Mixer.

Definition at line 106 of file HelicopterMixer.hpp.

Member Data Documentation

◆ _mixer_info

mixer_heli_s HelicopterMixer::_mixer_info

private

Definition at line 110 of file HelicopterMixer.hpp.

Referenced by mix().

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

src/lib/mixer/HelicopterMixer/HelicopterMixer.hpp
src/lib/mixer/HelicopterMixer/HelicopterMixer.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HelicopterMixer() [1/3]

◆ ~HelicopterMixer()

◆ HelicopterMixer() [2/3]

◆ HelicopterMixer() [3/3]

Member Function Documentation

◆ from_text()

◆ get_trim()

◆ groups_required()

◆ mix()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_trim()

Member Data Documentation

◆ _mixer_info