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

#include <MixerGroup.hpp>

Collaboration diagram for MixerGroup:

Public Member Functions
	MixerGroup ()=default

	~MixerGroup ()

	MixerGroup (const MixerGroup &)=delete

MixerGroup &	operator= (const MixerGroup &)=delete

	MixerGroup (MixerGroup &&)=delete

MixerGroup &	operator= (MixerGroup &&)=delete

unsigned	mix (float *outputs, unsigned space)

uint16_t	get_saturation_status ()

void	groups_required (uint32_t &groups)

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

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

unsigned	count () const
	Count the mixers in the group. More...

int	load_from_buf (Mixer::ControlCallback control_cb, uintptr_t cb_handle, 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)
	Update slew rate parameter. More...

unsigned	set_trims (int16_t *v, unsigned n)

unsigned	get_trims (int16_t *values)

void	set_thrust_factor (float val)
	Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output. More...

void	set_airmode (Mixer::Airmode airmode)

unsigned	get_multirotor_count ()

Private Attributes
List< Mixer * >	_mixers
	linked list of mixers More...

Detailed Description

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

Definition at line 42 of file MixerGroup.hpp.

Constructor & Destructor Documentation

◆ MixerGroup() [1/3]

MixerGroup::MixerGroup ( )

default

Referenced by ~MixerGroup().

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◆ ~MixerGroup()

MixerGroup::~MixerGroup ( )

inline

Definition at line 47 of file MixerGroup.hpp.

References get_saturation_status(), groups_required(), mix(), MixerGroup(), operator=(), and reset().

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◆ MixerGroup() [2/3]

MixerGroup::MixerGroup ( const MixerGroup & )

delete

◆ MixerGroup() [3/3]

MixerGroup::MixerGroup ( MixerGroup && )

delete

Member Function Documentation

◆ add_mixer()

void MixerGroup::add_mixer ( Mixer * mixer )

inline

Add a mixer to the group.

Parameters

mixer The mixer to be added.

Definition at line 69 of file MixerGroup.hpp.

References _mixers.

Referenced by load_from_buf().

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◆ count()

unsigned MixerGroup::count ( void ) const

inline

Count the mixers in the group.

Definition at line 79 of file MixerGroup.hpp.

References _mixers, get_multirotor_count(), get_trims(), load_from_buf(), set_airmode(), set_max_delta_out_once(), set_thrust_factor(), and set_trims().

Referenced by linux_pwm_out::initialize_mixer(), and MixerTest::load_mixer().

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◆ get_multirotor_count()

unsigned MixerGroup::get_multirotor_count ( )

Definition at line 139 of file MixerGroup.cpp.

References _mixers, MultirotorMixer::get_multirotor_count(), and uart_esc::mixer.

Referenced by count(), and DShotOutput::updateTelemetryNumMotors().

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◆ get_saturation_status()

uint16_t MixerGroup::get_saturation_status ( )

Definition at line 153 of file MixerGroup.cpp.

References _mixers, MultirotorMixer::get_saturation_status(), and uart_esc::mixer.

Referenced by TAP_ESC::cycle(), mixer_mix_threadsafe(), MixingOutput::publishMixerStatus(), and ~MixerGroup().

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◆ get_trims()

unsigned MixerGroup::get_trims ( int16_t * values )

Definition at line 102 of file MixerGroup.cpp.

References _mixers, MultirotorMixer::get_trim(), and uart_esc::mixer.

Referenced by count(), and PX4FMU::pwm_ioctl().

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◆ groups_required()

void MixerGroup::groups_required ( uint32_t & groups )

Definition at line 165 of file MixerGroup.cpp.

References _mixers, MultirotorMixer::groups_required(), and uart_esc::mixer.

Referenced by TAP_ESC::ioctl(), MixingOutput::loadMixer(), linux_pwm_out::task_main(), and ~MixerGroup().

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◆ load_from_buf()

int MixerGroup::load_from_buf	(	Mixer::ControlCallback	control_cb,
		uintptr_t	cb_handle,
		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.

Definition at line 173 of file MixerGroup.cpp.

References add_mixer(), debug, NullMixer::from_text(), HelicopterMixer::from_text(), SimpleMixer::from_text(), and MultirotorMixer::from_text().

Referenced by count(), linux_pwm_out::initialize_mixer(), df_bebop_bus_wrapper::initialize_mixers(), TAP_ESC::ioctl(), MixerTest::load_mixer(), MixingOutput::loadMixer(), mixer_handle_text_create_mixer(), and MK::pwm_ioctl().

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◆ mix()

unsigned MixerGroup::mix	(	float *	outputs,
		unsigned	space
	)

Definition at line 53 of file MixerGroup.cpp.

References _mixers, MultirotorMixer::mix(), and uart_esc::mixer.

Referenced by TAP_ESC::cycle(), mixer_mix_threadsafe(), MixerTest::mixerTest(), linux_pwm_out::task_main(), MK::task_main(), df_bebop_bus_wrapper::task_main(), MixingOutput::update(), and ~MixerGroup().

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◆ operator=() [1/2]

MixerGroup& MixerGroup::operator= ( const MixerGroup & )

delete

Referenced by ~MixerGroup().

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◆ operator=() [2/2]

MixerGroup& MixerGroup::operator= ( MixerGroup && )

delete

◆ reset()

void MixerGroup::reset ( void )

inline

Remove all the mixers from the group.

Definition at line 74 of file MixerGroup.hpp.

References _mixers.

Referenced by MixerTest::load_mixer(), mixer_handle_text(), and ~MixerGroup().

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◆ set_airmode()

void MixerGroup::set_airmode ( Mixer::Airmode airmode )

Definition at line 131 of file MixerGroup.cpp.

References _mixers, uart_esc::mixer, and MultirotorMixer::set_airmode().

Referenced by count(), TAP_ESC::cycle(), mixer_tick(), linux_pwm_out::task_main(), and MixingOutput::updateParams().

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◆ set_max_delta_out_once()

void MixerGroup::set_max_delta_out_once ( float delta_out_max )

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.

Definition at line 240 of file MixerGroup.cpp.

References _mixers, uart_esc::mixer, and MultirotorMixer::set_max_delta_out_once().

Referenced by count(), mixer_set_failsafe(), mixer_tick(), MixingOutput::updateOutputSlewrate(), and MixingOutput::updateParams().

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◆ set_thrust_factor()

void MixerGroup::set_thrust_factor ( float val )

Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output.

Parameters

[in] val The value

Definition at line 123 of file MixerGroup.cpp.

References _mixers, uart_esc::mixer, and MultirotorMixer::set_thrust_factor().

Referenced by count(), mixer_set_failsafe(), mixer_tick(), and MixingOutput::updateParams().

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◆ set_trims()

unsigned MixerGroup::set_trims	(	int16_t *	v,
		unsigned	n
	)

Definition at line 75 of file MixerGroup.cpp.

References _mixers, math::constrain(), debug, f(), uart_esc::mixer, and MultirotorMixer::set_trim().

Referenced by count(), mixer_tick(), PX4FMU::pwm_ioctl(), and PX4FMU::update_pwm_trims().

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Member Data Documentation

◆ _mixers

List<Mixer *> MixerGroup::_mixers

private

linked list of mixers

Definition at line 169 of file MixerGroup.hpp.

Referenced by add_mixer(), count(), get_multirotor_count(), get_saturation_status(), get_trims(), groups_required(), mix(), reset(), set_airmode(), set_max_delta_out_once(), set_thrust_factor(), and set_trims().

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

src/lib/mixer/MixerGroup.hpp
src/lib/mixer/MixerGroup.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MixerGroup() [1/3]

◆ ~MixerGroup()

◆ MixerGroup() [2/3]

◆ MixerGroup() [3/3]

Member Function Documentation

◆ add_mixer()

◆ count()

◆ get_multirotor_count()

◆ get_saturation_status()

◆ get_trims()

◆ groups_required()

◆ load_from_buf()

◆ mix()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset()

◆ set_airmode()

◆ set_max_delta_out_once()

◆ set_thrust_factor()

◆ set_trims()

Member Data Documentation

◆ _mixers