This handles the mixing, arming/disarming and all subscriptions required for that. More...

#include <mixer_module.hpp>

Inheritance diagram for MixingOutput:

Collaboration diagram for MixingOutput:

Classes
struct	Command

struct	MotorTest

Public Types
enum	SchedulingPolicy { SchedulingPolicy::Disabled, SchedulingPolicy::Auto }

Public Member Functions
	MixingOutput (uint8_t max_num_outputs, OutputModuleInterface &interface, SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up=true)
	Contructor. More...

	~MixingOutput ()

void	setDriverInstance (uint8_t instance)

void	printStatus () const

bool	update ()
	Call this regularly from Run(). More...

bool	updateSubscriptions (bool allow_wq_switch)
	Check for subscription updates (e.g. More...

void	unregister ()
	unregister uORB subscription callbacks More...

void	setMaxTopicUpdateRate (unsigned max_topic_update_interval_us)

void	resetMixerThreadSafe ()
	Reset (unload) the complete mixer, called from another thread. More...

void	resetMixer ()

int	loadMixerThreadSafe (const char *buf, unsigned len)
	Load (append) a new mixer from a buffer, called from another thread. More...

int	loadMixer (const char *buf, unsigned len)

const actuator_armed_s &	armed () const

MixerGroup *	mixers () const

void	setAllFailsafeValues (uint16_t value)

void	setAllDisarmedValues (uint16_t value)

void	setAllMinValues (uint16_t value)

void	setAllMaxValues (uint16_t value)

uint16_t &	reverseOutputMask ()

uint16_t &	failsafeValue (int index)

uint16_t &	disarmedValue (int index)
	Disarmed values: disarmedValue < minValue needs to hold. More...

uint16_t &	minValue (int index)

uint16_t &	maxValue (int index)

int	reorderedMotorIndex (int index) const
	Get the motor index that maps from PX4 convention to the configured one. More...

void	setIgnoreLockdown (bool ignore_lockdown)

Static Public Attributes
static constexpr int	MAX_ACTUATORS = OutputModuleInterface::MAX_ACTUATORS

Protected Member Functions
void	updateParams () override

Private Types
enum	MotorOrdering : int32_t { MotorOrdering::PX4 = 0, MotorOrdering::Betaflight = 1 }

Private Member Functions
void	handleCommands ()

bool	armNoThrottle () const

unsigned	motorTest ()

void	updateOutputSlewrate ()

void	setAndPublishActuatorOutputs (unsigned num_outputs, actuator_outputs_s &actuator_outputs)

void	publishMixerStatus (const actuator_outputs_s &actuator_outputs)

void	updateLatencyPerfCounter (const actuator_outputs_s &actuator_outputs)

void	reorderOutputs (uint16_t values[MAX_ACTUATORS])
	Reorder outputs according to _param_mot_ordering. More...

void	lock ()

void	unlock ()

Static Private Member Functions
static int	controlCallback (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)

Private Attributes
Command	_command
	incoming commands (from another thread) More...

px4_sem_t	_lock
	lock to protect access to work queue changes (includes ScheduleNow calls from another thread) More...

uint16_t	_failsafe_value [MAX_ACTUATORS] {}

uint16_t	_disarmed_value [MAX_ACTUATORS] {}

uint16_t	_min_value [MAX_ACTUATORS] {}

uint16_t	_max_value [MAX_ACTUATORS] {}

uint16_t	_current_output_value [MAX_ACTUATORS] {}
	current output values (reordered) More...

uint16_t	_reverse_output_mask {0}
	reverses the interval [min, max] -> [max, min], NOT motor direction More...

output_limit_t	_output_limit

uORB::Subscription	_armed_sub {ORB_ID(actuator_armed)}

uORB::SubscriptionCallbackWorkItem	_control_subs [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

uORB::PublicationMulti< actuator_outputs_s >	_outputs_pub {ORB_ID(actuator_outputs), ORB_PRIO_DEFAULT}

uORB::PublicationMulti< multirotor_motor_limits_s >	_to_mixer_status {ORB_ID(multirotor_motor_limits), ORB_PRIO_DEFAULT}
	mixer status flags More...

actuator_controls_s	_controls [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {}

actuator_armed_s	_armed {}

hrt_abstime	_time_last_mix {0}

unsigned	_max_topic_update_interval_us {0}
	max _control_subs topic update interval (0=unlimited) More...

bool	_throttle_armed {false}

bool	_ignore_lockdown {false}
	if true, ignore the _armed.lockdown flag (for HIL outputs) More...

MixerGroup *	_mixers {nullptr}

uint32_t	_groups_required {0}

uint32_t	_groups_subscribed {1u << 31}
	initialize to a different value than _groups_required and outside of (1 << NUM_ACTUATOR_CONTROL_GROUPS) More...

const SchedulingPolicy	_scheduling_policy

const bool	_support_esc_calibration

bool	_wq_switched {false}

uint8_t	_driver_instance {0}
	for boards that supports multiple outputs (e.g. PX4IO + FMU) More...

const uint8_t	_max_num_outputs

MotorTest	_motor_test

OutputModuleInterface &	_interface

perf_counter_t	_control_latency_perf

Detailed Description

This handles the mixing, arming/disarming and all subscriptions required for that.

It can also drive the scheduling of the OutputModuleInterface (via uORB callbacks to reduce output latency).

Definition at line 90 of file mixer_module.hpp.

Member Enumeration Documentation

◆ MotorOrdering

enum MixingOutput::MotorOrdering : int32_t

strongprivate

Enumerator
PX4
Betaflight

Definition at line 200 of file mixer_module.hpp.

◆ SchedulingPolicy

enum MixingOutput::SchedulingPolicy

strong

Enumerator
Disabled	Do not drive scheduling (the module needs to call ScheduleOnInterval() for example)
Auto	Drive scheduling based on subscribed actuator controls topics (via uORB callbacks)

Definition at line 95 of file mixer_module.hpp.

Constructor & Destructor Documentation

◆ MixingOutput()

MixingOutput::MixingOutput	(	uint8_t	max_num_outputs,
		OutputModuleInterface &	interface,
		SchedulingPolicy	scheduling_policy,
		bool	support_esc_calibration,
		bool	ramp_up = `true`
	)

Contructor.

Parameters

max_num_outputs	maximum number of supported outputs
interface	Parent module for scheduling, parameter updates and callbacks
scheduling_policy
support_esc_calibration	true if the output module supports ESC calibration via max, then min setting
ramp_up	true if motor ramp up from disarmed to min upon arming is wanted

Definition at line 44 of file mixer_module.cpp.

References _armed, _control_latency_perf, _interface, _lock, _max_num_outputs, _motor_test, _output_limit, _scheduling_policy, _support_esc_calibration, actuator_armed_s::armed, actuator_armed_s::force_failsafe, actuator_armed_s::in_esc_calibration_mode, actuator_armed_s::lockdown, MAX_ACTUATORS, ORB_ID, output_limit_init(), PC_ELAPSED, perf_alloc, actuator_armed_s::prearmed, output_limit_t::ramp_up, actuator_armed_s::ready_to_arm, uORB::Subscription::subscribe(), lps25h::test(), and MixingOutput::MotorTest::test_motor_sub.

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◆ ~MixingOutput()

MixingOutput::~MixingOutput ( )

Definition at line 80 of file mixer_module.cpp.

References _control_latency_perf, _lock, _mixers, and perf_free().

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Member Function Documentation

◆ armed()

const actuator_armed_s& MixingOutput::armed ( ) const

inline

Definition at line 155 of file mixer_module.hpp.

References df_bebop_bus_wrapper::_armed.

Referenced by DShotOutput::Run(), PX4FMU::Run(), and UavcanNode::Run().

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◆ armNoThrottle()

bool MixingOutput::armNoThrottle ( ) const

inlineprivate

Definition at line 186 of file mixer_module.hpp.

References df_bebop_bus_wrapper::_armed, actuator_armed_s::armed, actuator_armed_s::in_esc_calibration_mode, and actuator_armed_s::prearmed.

Referenced by controlCallback(), and update().

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◆ controlCallback()

int MixingOutput::controlCallback	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

staticprivate

Definition at line 495 of file mixer_module.cpp.

References _armed, _controls, _output_limit, armNoThrottle(), actuator_controls_s::control, f(), actuator_armed_s::in_esc_calibration_mode, OUTPUT_LIMIT_STATE_RAMP, and output_limit_t::state.

Referenced by loadMixer().

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◆ disarmedValue()

uint16_t& MixingOutput::disarmedValue ( int index )

inline

Disarmed values: disarmedValue < minValue needs to hold.

Definition at line 167 of file mixer_module.hpp.

Referenced by PWMSim::ioctl(), and PX4FMU::pwm_ioctl().

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◆ failsafeValue()

uint16_t& MixingOutput::failsafeValue ( int index )

inline

Definition at line 165 of file mixer_module.hpp.

Referenced by PWMSim::ioctl(), and PX4FMU::pwm_ioctl().

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◆ handleCommands()

void MixingOutput::handleCommands ( )

private

Definition at line 574 of file mixer_module.cpp.

References _command, MixingOutput::Command::command, loadMixer(), MixingOutput::Command::loadMixer, MixingOutput::Command::mixer_buf, MixingOutput::Command::mixer_buf_length, MixingOutput::Command::None, resetMixer(), MixingOutput::Command::resetMixer, and MixingOutput::Command::result.

Referenced by update().

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◆ loadMixer()

int MixingOutput::loadMixer	(	const char *	buf,
		unsigned	len
	)

Definition at line 545 of file mixer_module.cpp.

References _groups_required, _interface, _mixers, controlCallback(), MixerGroup::groups_required(), MixerGroup::load_from_buf(), OutputModuleInterface::mixerChanged(), and updateParams().

Referenced by handleCommands().

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◆ loadMixerThreadSafe()

int MixingOutput::loadMixerThreadSafe	(	const char *	buf,
		unsigned	len
	)

Load (append) a new mixer from a buffer, called from another thread.

This is thread-safe, as long as only one other thread at a time calls this.

Returns: 0 on success, <0 error otherwise

Definition at line 622 of file mixer_module.cpp.

References _command, _interface, MixingOutput::Command::command, MixingOutput::Command::loadMixer, lock(), MixingOutput::Command::mixer_buf, MixingOutput::Command::mixer_buf_length, MixingOutput::Command::None, MixingOutput::Command::result, and unlock().

Referenced by PWMSim::ioctl(), UavcanNode::ioctl(), PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

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◆ lock()

void MixingOutput::lock ( )

inlineprivate

Definition at line 224 of file mixer_module.hpp.

Referenced by loadMixerThreadSafe(), resetMixerThreadSafe(), and updateSubscriptions().

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◆ maxValue()

uint16_t& MixingOutput::maxValue ( int index )

inline

Definition at line 169 of file mixer_module.hpp.

Referenced by PWMSim::ioctl(), and PX4FMU::pwm_ioctl().

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◆ minValue()

uint16_t& MixingOutput::minValue ( int index )

inline

Definition at line 168 of file mixer_module.hpp.

Referenced by PWMSim::ioctl(), and PX4FMU::pwm_ioctl().

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◆ mixers()

MixerGroup* MixingOutput::mixers ( ) const

inline

Definition at line 157 of file mixer_module.hpp.

References df_bebop_bus_wrapper::_mixers.

Referenced by PX4FMU::pwm_ioctl(), DShotOutput::Run(), PX4FMU::update_pwm_trims(), and DShotOutput::updateTelemetryNumMotors().

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◆ motorTest()

unsigned MixingOutput::motorTest ( )

private

Definition at line 234 of file mixer_module.cpp.

References _current_output_value, _disarmed_value, _driver_instance, _max_num_outputs, _max_value, _min_value, _motor_test, test_motor_s::action, test_motor_s::driver_instance, hrt_absolute_time(), hrt_elapsed_time(), MixingOutput::MotorTest::in_test_mode, MAX_ACTUATORS, test_motor_s::motor_number, reorderedMotorIndex(), MixingOutput::MotorTest::test_motor_sub, MixingOutput::MotorTest::timeout, test_motor_s::timeout_ms, test_motor_s::timestamp, uORB::Subscription::update(), and test_motor_s::value.

Referenced by update().

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◆ printStatus()

void MixingOutput::printStatus ( ) const

Definition at line 87 of file mixer_module.cpp.

References _control_latency_perf, _current_output_value, _disarmed_value, _driver_instance, _failsafe_value, _max_num_outputs, _max_value, _min_value, _mixers, _wq_switched, perf_print_counter(), and reorderedMotorIndex().

Referenced by UavcanNode::print_info(), PWMSim::print_status(), DShotOutput::print_status(), and PX4FMU::print_status().

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◆ publishMixerStatus()

void MixingOutput::publishMixerStatus ( const actuator_outputs_s & actuator_outputs )

private

Definition at line 421 of file mixer_module.cpp.

References _mixers, _to_mixer_status, MultirotorMixer::saturation_status::flags, MixerGroup::get_saturation_status(), uORB::PublicationMulti< T >::publish(), multirotor_motor_limits_s::saturation_status, multirotor_motor_limits_s::timestamp, actuator_outputs_s::timestamp, MultirotorMixer::saturation_status::valid, and MultirotorMixer::saturation_status::value.

Referenced by update().

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◆ reorderedMotorIndex()

int MixingOutput::reorderedMotorIndex ( int index ) const

Get the motor index that maps from PX4 convention to the configured one.

Parameters

index motor index in [0, num_motors-1]

Returns: reordered motor index. When out of range, the input index is returned

Definition at line 478 of file mixer_module.cpp.

References Betaflight.

Referenced by motorTest(), printStatus(), DShotOutput::requestESCInfo(), DShotOutput::sendCommandThreadSafe(), and DShotOutput::updateOutputs().

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◆ reorderOutputs()

void MixingOutput::reorderOutputs ( uint16_t values[MAX_ACTUATORS] )

inlineprivate

Reorder outputs according to _param_mot_ordering.

Parameters

values values to reorder

Definition at line 451 of file mixer_module.cpp.

References Betaflight.

Referenced by update().

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◆ resetMixer()

void MixingOutput::resetMixer ( )

Definition at line 534 of file mixer_module.cpp.

References _groups_required, _interface, _mixers, and OutputModuleInterface::mixerChanged().

Referenced by handleCommands().

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◆ resetMixerThreadSafe()

void MixingOutput::resetMixerThreadSafe ( )

Reset (unload) the complete mixer, called from another thread.

This is thread-safe, as long as only one other thread at a time calls this.

Definition at line 598 of file mixer_module.cpp.

References _command, _interface, MixingOutput::Command::command, lock(), MixingOutput::Command::None, MixingOutput::Command::resetMixer, and unlock().

Referenced by PWMSim::ioctl(), UavcanNode::ioctl(), PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

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◆ reverseOutputMask()

uint16_t& MixingOutput::reverseOutputMask ( )

inline

Definition at line 164 of file mixer_module.hpp.

Referenced by PX4FMU::update_pwm_rev_mask().

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◆ setAllDisarmedValues()

void MixingOutput::setAllDisarmedValues ( uint16_t value )

Definition at line 207 of file mixer_module.cpp.

References _disarmed_value, and MAX_ACTUATORS.

Referenced by DShotOutput::DShotOutput(), UavcanNode::init(), and PWMSim::PWMSim().

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◆ setAllFailsafeValues()

void MixingOutput::setAllFailsafeValues ( uint16_t value )

Definition at line 200 of file mixer_module.cpp.

References _failsafe_value, and MAX_ACTUATORS.

Referenced by PWMSim::PWMSim().

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◆ setAllMaxValues()

void MixingOutput::setAllMaxValues ( uint16_t value )

Definition at line 193 of file mixer_module.cpp.

References _max_value, and MAX_ACTUATORS.

Referenced by DShotOutput::DShotOutput(), UavcanNode::init(), PWMSim::PWMSim(), and PX4FMU::PX4FMU().

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◆ setAllMinValues()

void MixingOutput::setAllMinValues ( uint16_t value )

Definition at line 186 of file mixer_module.cpp.

References _min_value, and MAX_ACTUATORS.

Referenced by DShotOutput::DShotOutput(), UavcanNode::enable_idle_throttle_when_armed(), UavcanNode::init(), PWMSim::PWMSim(), PX4FMU::PX4FMU(), and DShotOutput::update_params().

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◆ setAndPublishActuatorOutputs()

void MixingOutput::setAndPublishActuatorOutputs	(	unsigned	num_outputs,
		actuator_outputs_s &	actuator_outputs
	)

private

Definition at line 408 of file mixer_module.cpp.

References _current_output_value, _outputs_pub, hrt_absolute_time(), actuator_outputs_s::noutputs, actuator_outputs_s::output, uORB::PublicationMulti< T >::publish(), and actuator_outputs_s::timestamp.

Referenced by update().

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◆ setDriverInstance()

void MixingOutput::setDriverInstance ( uint8_t instance )

inline

Definition at line 113 of file mixer_module.hpp.

References ll40ls::instance.

Referenced by DShotOutput::init(), and PX4FMU::init().

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◆ setIgnoreLockdown()

void MixingOutput::setIgnoreLockdown ( bool ignore_lockdown )

inline

Definition at line 178 of file mixer_module.hpp.

Referenced by PWMSim::PWMSim().

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◆ setMaxTopicUpdateRate()

void MixingOutput::setMaxTopicUpdateRate ( unsigned max_topic_update_interval_us )

Definition at line 175 of file mixer_module.cpp.

References _control_subs, _groups_subscribed, _max_topic_update_interval_us, and uORB::SubscriptionInterval::set_interval_us().

Referenced by UavcanNode::init(), PX4FMU::update_current_rate(), and updateSubscriptions().

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◆ unlock()

void MixingOutput::unlock ( )

inlineprivate

Definition at line 225 of file mixer_module.hpp.

Referenced by loadMixerThreadSafe(), resetMixerThreadSafe(), and updateSubscriptions().

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◆ unregister()

void MixingOutput::unregister ( )

unregister uORB subscription callbacks

Definition at line 214 of file mixer_module.cpp.

References _control_subs.

Referenced by PWMSim::Run(), DShotOutput::Run(), PX4FMU::Run(), UavcanNode::Run(), and updateSubscriptions().

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◆ update()

bool MixingOutput::update ( )

Call this regularly from Run().

It will call interface.updateOutputs().

Returns: true if outputs were updated

Definition at line 296 of file mixer_module.cpp.

References _armed, _armed_sub, _control_subs, _controls, _current_output_value, _disarmed_value, _failsafe_value, _groups_subscribed, _ignore_lockdown, _interface, _max_num_outputs, _max_value, _min_value, _mixers, _motor_test, _output_limit, _reverse_output_mask, _support_esc_calibration, _throttle_armed, actuator_armed_s::armed, armNoThrottle(), actuator_controls_s::control, FLT_EPSILON, actuator_armed_s::force_failsafe, handleCommands(), actuator_armed_s::in_esc_calibration_mode, MixingOutput::MotorTest::in_test_mode, actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MAX_ACTUATORS, MixerGroup::mix(), motorTest(), output_limit_calc(), OUTPUT_LIMIT_STATE_ON, publishMixerStatus(), reorderOutputs(), setAndPublishActuatorOutputs(), output_limit_t::state, uORB::Subscription::update(), updateLatencyPerfCounter(), OutputModuleInterface::updateOutputs(), and updateOutputSlewrate().

Referenced by PWMSim::Run(), DShotOutput::Run(), and PX4FMU::Run().

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◆ updateLatencyPerfCounter()

void MixingOutput::updateLatencyPerfCounter ( const actuator_outputs_s & actuator_outputs )

private

Definition at line 436 of file mixer_module.cpp.

References _control_latency_perf, _controls, _groups_required, hrt_abstime, perf_set_elapsed(), actuator_outputs_s::timestamp, and actuator_controls_s::timestamp_sample.

Referenced by update().

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◆ updateOutputSlewrate()

void MixingOutput::updateOutputSlewrate ( )

private

Definition at line 221 of file mixer_module.cpp.

References _max_value, _min_value, _mixers, _time_last_mix, math::constrain(), dt, f(), hrt_absolute_time(), hrt_abstime, and MixerGroup::set_max_delta_out_once().

Referenced by update().

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◆ updateParams()

void MixingOutput::updateParams ( )

overrideprotected

Definition at line 103 of file mixer_module.cpp.

References _mixers, f(), FLT_EPSILON, MixerGroup::set_airmode(), MixerGroup::set_max_delta_out_once(), and MixerGroup::set_thrust_factor().

Referenced by loadMixer().

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◆ updateSubscriptions()

bool MixingOutput::updateSubscriptions ( bool allow_wq_switch )

Check for subscription updates (e.g.

after a mixer is loaded). Call this at the very end of Run() if allow_wq_switch

Parameters

allow_wq_switch if true

Returns: true if subscriptions got changed

Definition at line 118 of file mixer_module.cpp.

References _control_subs, _groups_required, _groups_subscribed, _interface, _max_topic_update_interval_us, _scheduling_policy, _wq_switched, Auto, lock(), setMaxTopicUpdateRate(), unlock(), and unregister().

Referenced by PWMSim::Run(), DShotOutput::Run(), and PX4FMU::Run().

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Member Data Documentation

◆ _armed

actuator_armed_s MixingOutput::_armed {}

private

Definition at line 244 of file mixer_module.hpp.

Referenced by controlCallback(), MixingOutput(), and update().

◆ _armed_sub

uORB::Subscription MixingOutput::_armed_sub {ORB_ID(actuator_armed)}

private

Definition at line 237 of file mixer_module.hpp.

Referenced by update().

◆ _command

Command MixingOutput::_command

private

incoming commands (from another thread)

Definition at line 216 of file mixer_module.hpp.

Referenced by handleCommands(), loadMixerThreadSafe(), and resetMixerThreadSafe().

◆ _control_latency_perf

perf_counter_t MixingOutput::_control_latency_perf

private

Definition at line 272 of file mixer_module.hpp.

Referenced by MixingOutput(), printStatus(), updateLatencyPerfCounter(), and ~MixingOutput().

◆ _control_subs

uORB::SubscriptionCallbackWorkItem MixingOutput::_control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

private

Definition at line 238 of file mixer_module.hpp.

Referenced by setMaxTopicUpdateRate(), unregister(), update(), and updateSubscriptions().

◆ _controls

actuator_controls_s MixingOutput::_controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {}

private

Definition at line 243 of file mixer_module.hpp.

Referenced by controlCallback(), update(), and updateLatencyPerfCounter().

◆ _current_output_value

uint16_t MixingOutput::_current_output_value[MAX_ACTUATORS] {}

private

current output values (reordered)

Definition at line 233 of file mixer_module.hpp.

Referenced by motorTest(), printStatus(), setAndPublishActuatorOutputs(), and update().

◆ _disarmed_value

uint16_t MixingOutput::_disarmed_value[MAX_ACTUATORS] {}

private

Definition at line 230 of file mixer_module.hpp.

Referenced by motorTest(), printStatus(), setAllDisarmedValues(), and update().

◆ _driver_instance

uint8_t MixingOutput::_driver_instance {0}

private

for boards that supports multiple outputs (e.g. PX4IO + FMU)

Definition at line 260 of file mixer_module.hpp.

Referenced by motorTest(), and printStatus().

◆ _failsafe_value

uint16_t MixingOutput::_failsafe_value[MAX_ACTUATORS] {}

private

Definition at line 229 of file mixer_module.hpp.

Referenced by printStatus(), setAllFailsafeValues(), and update().

◆ _groups_required

uint32_t MixingOutput::_groups_required {0}

private

Definition at line 253 of file mixer_module.hpp.

Referenced by loadMixer(), resetMixer(), updateLatencyPerfCounter(), and updateSubscriptions().

◆ _groups_subscribed

uint32_t MixingOutput::_groups_subscribed {1u << 31}

private

initialize to a different value than _groups_required and outside of (1 << NUM_ACTUATOR_CONTROL_GROUPS)

Definition at line 254 of file mixer_module.hpp.

Referenced by setMaxTopicUpdateRate(), update(), and updateSubscriptions().

◆ _ignore_lockdown

bool MixingOutput::_ignore_lockdown {false}

private

if true, ignore the _armed.lockdown flag (for HIL outputs)

Definition at line 250 of file mixer_module.hpp.

Referenced by update().

◆ _interface

OutputModuleInterface& MixingOutput::_interface

private

Definition at line 270 of file mixer_module.hpp.

Referenced by loadMixer(), loadMixerThreadSafe(), MixingOutput(), resetMixer(), resetMixerThreadSafe(), update(), and updateSubscriptions().

◆ _lock

px4_sem_t MixingOutput::_lock

private

lock to protect access to work queue changes (includes ScheduleNow calls from another thread)

Definition at line 227 of file mixer_module.hpp.

Referenced by MixingOutput(), and ~MixingOutput().

◆ _max_num_outputs

const uint8_t MixingOutput::_max_num_outputs

private

Definition at line 261 of file mixer_module.hpp.

Referenced by MixingOutput(), motorTest(), printStatus(), and update().

◆ _max_topic_update_interval_us

unsigned MixingOutput::_max_topic_update_interval_us {0}

private

max _control_subs topic update interval (0=unlimited)

Definition at line 247 of file mixer_module.hpp.

Referenced by setMaxTopicUpdateRate(), and updateSubscriptions().

◆ _max_value

uint16_t MixingOutput::_max_value[MAX_ACTUATORS] {}

private

Definition at line 232 of file mixer_module.hpp.

Referenced by motorTest(), printStatus(), setAllMaxValues(), update(), and updateOutputSlewrate().

◆ _min_value

uint16_t MixingOutput::_min_value[MAX_ACTUATORS] {}

private

Definition at line 231 of file mixer_module.hpp.

Referenced by motorTest(), printStatus(), setAllMinValues(), update(), and updateOutputSlewrate().

◆ _mixers

MixerGroup* MixingOutput::_mixers {nullptr}

private

Definition at line 252 of file mixer_module.hpp.

Referenced by loadMixer(), printStatus(), publishMixerStatus(), resetMixer(), update(), updateOutputSlewrate(), updateParams(), and ~MixingOutput().

◆ _motor_test

MotorTest MixingOutput::_motor_test

private

Definition at line 268 of file mixer_module.hpp.

Referenced by MixingOutput(), motorTest(), and update().

◆ _output_limit

output_limit_t MixingOutput::_output_limit

private

Definition at line 235 of file mixer_module.hpp.

Referenced by controlCallback(), MixingOutput(), and update().

◆ _outputs_pub

uORB::PublicationMulti<actuator_outputs_s> MixingOutput::_outputs_pub {ORB_ID(actuator_outputs), ORB_PRIO_DEFAULT}

private

Definition at line 240 of file mixer_module.hpp.

Referenced by setAndPublishActuatorOutputs().

◆ _reverse_output_mask

uint16_t MixingOutput::_reverse_output_mask {0}

private

reverses the interval [min, max] -> [max, min], NOT motor direction

Definition at line 234 of file mixer_module.hpp.

Referenced by update().

◆ _scheduling_policy

const SchedulingPolicy MixingOutput::_scheduling_policy

private

Definition at line 256 of file mixer_module.hpp.

Referenced by MixingOutput(), and updateSubscriptions().

◆ _support_esc_calibration

const bool MixingOutput::_support_esc_calibration

private

Definition at line 257 of file mixer_module.hpp.

Referenced by MixingOutput(), and update().

◆ _throttle_armed

bool MixingOutput::_throttle_armed {false}

private

Definition at line 249 of file mixer_module.hpp.

Referenced by update().

◆ _time_last_mix

hrt_abstime MixingOutput::_time_last_mix {0}

private

Definition at line 246 of file mixer_module.hpp.

Referenced by updateOutputSlewrate().

◆ _to_mixer_status

uORB::PublicationMulti<multirotor_motor_limits_s> MixingOutput::_to_mixer_status {ORB_ID(multirotor_motor_limits), ORB_PRIO_DEFAULT}

private

mixer status flags

Definition at line 241 of file mixer_module.hpp.

Referenced by publishMixerStatus().

◆ _wq_switched

bool MixingOutput::_wq_switched {false}

private

Definition at line 259 of file mixer_module.hpp.

Referenced by printStatus(), and updateSubscriptions().

◆ MAX_ACTUATORS

constexpr int MixingOutput::MAX_ACTUATORS = OutputModuleInterface::MAX_ACTUATORS

static

Definition at line 93 of file mixer_module.hpp.

Referenced by MixingOutput(), motorTest(), setAllDisarmedValues(), setAllFailsafeValues(), setAllMaxValues(), setAllMinValues(), and update().

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

src/lib/mixer_module/mixer_module.hpp
src/lib/mixer_module/mixer_module.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ MotorOrdering

◆ SchedulingPolicy

Constructor & Destructor Documentation

◆ MixingOutput()

◆ ~MixingOutput()

Member Function Documentation

◆ armed()

◆ armNoThrottle()

◆ controlCallback()

◆ disarmedValue()

◆ failsafeValue()

◆ handleCommands()

◆ loadMixer()

◆ loadMixerThreadSafe()

◆ lock()

◆ maxValue()

◆ minValue()

◆ mixers()

◆ motorTest()

◆ printStatus()

◆ publishMixerStatus()

◆ reorderedMotorIndex()

◆ reorderOutputs()

◆ resetMixer()

◆ resetMixerThreadSafe()

◆ reverseOutputMask()

◆ setAllDisarmedValues()

◆ setAllFailsafeValues()

◆ setAllMaxValues()

◆ setAllMinValues()

◆ setAndPublishActuatorOutputs()

◆ setDriverInstance()

◆ setIgnoreLockdown()

◆ setMaxTopicUpdateRate()

◆ unlock()

◆ unregister()

◆ update()

◆ updateLatencyPerfCounter()

◆ updateOutputSlewrate()

◆ updateParams()

◆ updateSubscriptions()

Member Data Documentation

◆ _armed

◆ _armed_sub

◆ _command

◆ _control_latency_perf

◆ _control_subs

◆ _controls

◆ _current_output_value

◆ _disarmed_value

◆ _driver_instance

◆ _failsafe_value

◆ _groups_required

◆ _groups_subscribed

◆ _ignore_lockdown

◆ _interface

◆ _lock

◆ _max_num_outputs

◆ _max_topic_update_interval_us

◆ _max_value

◆ _min_value

◆ _mixers

◆ _motor_test

◆ _output_limit

◆ _outputs_pub

◆ _reverse_output_mask

◆ _scheduling_policy

◆ _support_esc_calibration

◆ _throttle_armed