rosflight_firmware::Mixer Class Reference

#include <mixer.h>

Classes
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, 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)

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]
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
const mixer_t	quadcopter_plus_mixing
const mixer_t	quadcopter_x_mixing
float	raw_outputs_ [8]
ROSflight &	RF_
const mixer_t	tricopter_mixing
float	unsaturated_outputs_ [8]
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
NUM_MIXERS
INVALID_MIXER

Definition at line 49 of file mixer.h.

enum rosflight_firmware::Mixer::output_type_t

Enumerator
NONE
S
M
G

Definition at line 66 of file mixer.h.

Constructor & Destructor Documentation

rosflight_firmware::Mixer::Mixer

(

ROSflight &

_rf

)

Definition at line 41 of file mixer.cpp.

Member Function Documentation

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

inline

Definition at line 237 of file mixer.h.

void rosflight_firmware::Mixer::init

(

)

Definition at line 47 of file mixer.cpp.

void rosflight_firmware::Mixer::init_mixing

(

)

Definition at line 78 of file mixer.cpp.

void rosflight_firmware::Mixer::init_PWM

(

)

Definition at line 108 of file mixer.cpp.

void rosflight_firmware::Mixer::mix_output

(

)

Definition at line 166 of file mixer.cpp.

void rosflight_firmware::Mixer::param_change_callback

(

uint16_t

param_id

)

Definition at line 64 of file mixer.cpp.

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

private

Definition at line 124 of file mixer.cpp.

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

private

Definition at line 151 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
  }

Definition at line 215 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 93 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 202 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 125 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 136 of file mixer.h.

const mixer_t* rosflight_firmware::Mixer::mixer_to_use_

private

Definition at line 213 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 158 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 103 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 114 of file mixer.h.

float rosflight_firmware::Mixer::raw_outputs_[8]

private

Definition at line 87 of file mixer.h.

ROSflight& rosflight_firmware::Mixer::RF_

private

Definition at line 85 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 191 of file mixer.h.

float rosflight_firmware::Mixer::unsaturated_outputs_[8]

private

Definition at line 88 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 180 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 169 of file mixer.h.

---

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

• mixer.h
• mixer.cpp