Generic, programmable, procedural control signal mixers. More...

#include <containers/List.hpp>
#include <mathlib/mathlib.h>

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

Detailed Description

Generic, programmable, procedural control signal mixers.

This library implements a generic mixer interface that can be used by any driver or subsytem that wants to combine several control signals into a single output.

Terminology

control value A mixer input value, typically provided by some controlling component of the system.

control group A collection of controls provided by a single controlling component.

actuator The mixer output value.

Mixing basics

An actuator derives its value from the combination of one or more control values. Each of the control values is scaled according to the actuator's configuration and then combined to produce the actuator value, which may then be further scaled to suit the specific output type.

Internally, all scaling is performed using floating point values. Inputs and outputs are clamped to the range -1.0 to 1.0.

Scaling

Each scaler allows the input value to be scaled independently for inputs greater/less than zero. An offset can be applied to the output, as well as lower and upper boundary constraints. Negative scaling factors cause the output to be inverted (negative input produces positive output).

Scaler pseudocode:

if (input < 0) output = (input * NEGATIVE_SCALE) + OFFSET else output = (input * POSITIVE_SCALE) + OFFSET

if (output < LOWER_LIMIT) output = LOWER_LIMIT if (output > UPPER_LIMIT) output = UPPER_LIMIT

Mixing

Mixing behaviour varies based on the specific mixer class; each mixer class describes its behaviour in more detail.

Controls

The precise assignment of controls may vary depending on the application, but the following assignments should be used when appropriate. Some mixer classes have specific assumptions about the assignment of controls.