Base class for an output module. More...

#include <mixer_module.hpp>

Inheritance diagram for OutputModuleInterface:

Collaboration diagram for OutputModuleInterface:

Public Member Functions
	OutputModuleInterface (const char *name, const px4::wq_config_t &config)

virtual bool	updateOutputs (bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)=0
	Callback to update the (physical) actuator outputs in the driver. More...

virtual void	mixerChanged ()
	called whenever the mixer gets updated/reset More...

Static Public Attributes
static constexpr int	MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS

Detailed Description

Base class for an output module.

Definition at line 59 of file mixer_module.hpp.

Constructor & Destructor Documentation

◆ OutputModuleInterface()

OutputModuleInterface::OutputModuleInterface	(	const char *	name,
		const px4::wq_config_t &	config
	)

inline

Definition at line 64 of file mixer_module.hpp.

References updateOutputs().

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Member Function Documentation

◆ mixerChanged()

virtual void OutputModuleInterface::mixerChanged ( )

inlinevirtual

called whenever the mixer gets updated/reset

Reimplemented in DShotOutput, and UavcanMixingInterface.

Definition at line 80 of file mixer_module.hpp.

Referenced by MixingOutput::loadMixer(), and MixingOutput::resetMixer().

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◆ updateOutputs()

virtual bool OutputModuleInterface::updateOutputs	(	bool	stop_motors,
		uint16_t	outputs[MAX_ACTUATORS],
		unsigned	num_outputs,
		unsigned	num_control_groups_updated
	)

pure virtual

Callback to update the (physical) actuator outputs in the driver.

Parameters

stop_motors	if true, all motors must be stopped (if false, individual motors might still be stopped via outputs[i] == disarmed_value)
outputs	individual actuator outputs in range [min, max] or failsafe/disarmed value
num_outputs	number of outputs (<= max_num_outputs)
num_control_groups_updated	number of actuator_control groups updated

Returns: if true, the update got handled, and actuator_outputs can be published

Implemented in PX4FMU, DShotOutput, UavcanMixingInterface, and PWMSim.

Referenced by OutputModuleInterface(), and MixingOutput::update().

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Member Data Documentation

◆ MAX_ACTUATORS

constexpr int OutputModuleInterface::MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS

static

Definition at line 62 of file mixer_module.hpp.

Referenced by PWMSim::ioctl(), and UavcanMixingInterface::UavcanMixingInterface().

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

src/lib/mixer_module/mixer_module.hpp

Public Member Functions

Static Public Attributes