rosflight_firmware::Mixer Class Reference

#include <mixer.h>

Inheritance diagram for rosflight_firmware::Mixer:

Classes
struct	aux_channel_t
struct	aux_command_t
struct	mixer_t

Public Types
enum	{   ESC_CALIBRATION = 0, QUADCOPTER_PLUS = 1, QUADCOPTER_X = 2, HEX_PLUS = 3,   HEX_X = 4, OCTO_PLUS = 5, OCTO_X = 6, Y6 = 7,   X8 = 8, TRICOPTER = 9, FIXEDWING = 10, PASSTHROUGH = 11,   NUM_MIXERS, INVALID_MIXER = 255 }
enum	output_type_t { NONE, S, M, G }

Public Member Functions
const float *	get_outputs () const
void	init ()
void	init_mixing ()
void	init_PWM ()
void	mix_output ()
	Mixer (ROSflight &_rf)
void	param_change_callback (uint16_t param_id) override
void	set_new_aux_command (aux_command_t new_aux_command)

Static Public Attributes
static constexpr uint8_t	NUM_MIXER_OUTPUTS = 8
static constexpr uint8_t	NUM_TOTAL_OUTPUTS = 14

Private Member Functions
void	write_motor (uint8_t index, float value)
void	write_servo (uint8_t index, float value)

Private Attributes
const mixer_t *	array_of_mixers_ [NUM_MIXERS]
aux_command_t	aux_command_
output_type_t	combined_output_type_ [NUM_TOTAL_OUTPUTS]
const mixer_t	esc_calibration_mixing
const mixer_t	fixedwing_mixing
const mixer_t	hex_plus_mixing
const mixer_t	hex_x_mixing
const mixer_t *	mixer_to_use_
const mixer_t	octocopter_plus_mixing
const mixer_t	octocopter_x_mixing
float	outputs_ [NUM_TOTAL_OUTPUTS]
const mixer_t	passthrough_mixing
const mixer_t	quadcopter_plus_mixing
const mixer_t	quadcopter_x_mixing
float	raw_outputs_ [NUM_TOTAL_OUTPUTS]
ROSflight &	RF_
const mixer_t	tricopter_mixing
const mixer_t	X8_mixing
const mixer_t	Y6_mixing

Detailed Description

Definition at line 44 of file mixer.h.

Member Enumeration Documentation

anonymous enum

Enumerator
ESC_CALIBRATION
QUADCOPTER_PLUS
QUADCOPTER_X
HEX_PLUS
HEX_X
OCTO_PLUS
OCTO_X
Y6
X8
TRICOPTER
FIXEDWING
PASSTHROUGH
NUM_MIXERS
INVALID_MIXER

Definition at line 50 of file mixer.h.

enum rosflight_firmware::Mixer::output_type_t

Enumerator
NONE
S
M
G

Definition at line 68 of file mixer.h.

Constructor & Destructor Documentation

rosflight_firmware::Mixer::Mixer

(

ROSflight &

_rf

)

Definition at line 40 of file mixer.cpp.

Member Function Documentation

const float* rosflight_firmware::Mixer::get_outputs ( ) const

inline

Definition at line 228 of file mixer.h.

void rosflight_firmware::Mixer::init

(

)

Definition at line 45 of file mixer.cpp.

void rosflight_firmware::Mixer::init_mixing

(

)

Definition at line 67 of file mixer.cpp.

void rosflight_firmware::Mixer::init_PWM

(

)

Definition at line 96 of file mixer.cpp.

void rosflight_firmware::Mixer::mix_output

(

)

Definition at line 160 of file mixer.cpp.

void rosflight_firmware::Mixer::param_change_callback ( uint16_t  param_id )

overridevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 50 of file mixer.cpp.

void rosflight_firmware::Mixer::set_new_aux_command

(

aux_command_t

new_aux_command

)

Definition at line 151 of file mixer.cpp.

void rosflight_firmware::Mixer::write_motor ( uint8_t  index, float  value  )

private

Definition at line 111 of file mixer.cpp.

void rosflight_firmware::Mixer::write_servo ( uint8_t  index, float  value  )

private

Definition at line 137 of file mixer.cpp.

Member Data Documentation

const mixer_t* rosflight_firmware::Mixer::array_of_mixers_[NUM_MIXERS]

private

Initial value:

= {&esc_calibration_mixing,
                                                 &quadcopter_plus_mixing,
                                                 &quadcopter_x_mixing,
                                                 &hex_plus_mixing,
                                                 &hex_x_mixing,
                                                 &octocopter_plus_mixing,
                                                 &octocopter_x_mixing,
                                                 &Y6_mixing,
                                                 &X8_mixing,
                                                 &tricopter_mixing,
                                                 &fixedwing_mixing,
                                                 &passthrough_mixing}

Definition at line 206 of file mixer.h.

aux_command_t rosflight_firmware::Mixer::aux_command_

private

Definition at line 102 of file mixer.h.

output_type_t rosflight_firmware::Mixer::combined_output_type_[NUM_TOTAL_OUTPUTS]

private

Definition at line 103 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::esc_calibration_mixing

private

Initial value:

= {{M, M, M, M, M, M, NONE, NONE},
                                          {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, 
                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                          490}

Definition at line 108 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::fixedwing_mixing

private

Initial value:

= {{S, S, M, S, S, M, NONE, NONE},

                                    {0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                    {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                    {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                    {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                    50}

Definition at line 187 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::hex_plus_mixing

private

Initial value:

= {{M, M, M, M, M, M, M, M}, 

                                   {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},                       
                                   {0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f}, 
                                   {1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f},                    
                                   {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},                    
                                   490}

Definition at line 131 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::hex_x_mixing

private

Initial value:

= {{M, M, M, M, M, M, M, M}, 

                                {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},                       
                                {-0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f},                    
                                {0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f}, 
                                {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},                    
                                490}

Definition at line 139 of file mixer.h.

const mixer_t* rosflight_firmware::Mixer::mixer_to_use_

private

Definition at line 203 of file mixer.h.

constexpr uint8_t rosflight_firmware::Mixer::NUM_MIXER_OUTPUTS = 8

static

Definition at line 48 of file mixer.h.

constexpr uint8_t rosflight_firmware::Mixer::NUM_TOTAL_OUTPUTS = 14

static

Definition at line 47 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::octocopter_plus_mixing

private

Initial value:

= {{M, M, M, M, M, M, M, M}, 

                                          {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},            
                                          {0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f}, 
                                          {1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f}, 
                                          {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f},        
                                          490}

Definition at line 147 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::octocopter_x_mixing

private

Initial value:

= {{M, M, M, M, M, M, M, M}, 

                                       {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},            
                                       {-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414}, 
                                       {1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0}, 
                                       {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f},        
                                       490}

Definition at line 155 of file mixer.h.

float rosflight_firmware::Mixer::outputs_[NUM_TOTAL_OUTPUTS]

private

Definition at line 101 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::passthrough_mixing

private

Initial value:

= {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},

                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                      50}

Definition at line 195 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::quadcopter_plus_mixing

private

Initial value:

= {{M, M, M, M, NONE, NONE, NONE, NONE}, 

                                          {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},   
                                          {0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  
                                          {1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  
                                          {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                          490}

Definition at line 115 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::quadcopter_x_mixing

private

Initial value:

= {{M, M, M, M, NONE, NONE, NONE, NONE}, 

                                       {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},   
                                       {-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                       {1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                       {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                       490}

Definition at line 123 of file mixer.h.

float rosflight_firmware::Mixer::raw_outputs_[NUM_TOTAL_OUTPUTS]

private

Definition at line 100 of file mixer.h.

ROSflight& rosflight_firmware::Mixer::RF_

private

Definition at line 98 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::tricopter_mixing

private

Initial value:

= {{M, M, M, S, NONE, NONE, NONE, NONE}, 

                                    {1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},        
                                    {-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},       
                                    {0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, 
                                    {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},        
                                    490}

Definition at line 179 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::X8_mixing

private

Initial value:

= {{M, M, M, M, M, M, M, M}, 

                             {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},     
                             {-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, 
                             {1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f}, 
                             {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, 
                             490}

Definition at line 171 of file mixer.h.

const mixer_t rosflight_firmware::Mixer::Y6_mixing

private

Initial value:

= {{M, M, M, M, M, M, NONE, NONE}, 

                             {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},               
                             {-1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f},             
                             {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f}, 
                             {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},            
                             490}

Definition at line 163 of file mixer.h.

---

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

• mixer.h
• mixer.cpp