Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

416 update mixing system to be more flexible #421

Merged
merged 8 commits into from
Feb 26, 2024
Merged

416 update mixing system to be more flexible #421

Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
af7b100
Added a custom mixer and a vtail mixer and deleted the passthrough mixer
JMoore5353 Jan 25, 2024
b1f286a
clang format
JMoore5353 Feb 20, 2024
b75de0a
added passthrough back in
JMoore5353 Feb 20, 2024
7b790da
Added a custom mixer and a vtail mixer and deleted the passthrough mixer
JMoore5353 Jan 25, 2024
f00eb9c
clang format
JMoore5353 Feb 20, 2024
e1ca50e
added passthrough back in
JMoore5353 Feb 20, 2024
67803d9
updated vtail mixing based on hardware test
bsutherland333 Feb 23, 2024
1477510
Merge branch '416-update-mixing-system-to-be-more-flexible' of github…
JMoore5353 Feb 26, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 24 additions & 2 deletions include/mixer.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ class Mixer : public ParamListenerInterface
TRICOPTER = 9,
FIXEDWING = 10,
PASSTHROUGH = 11,
VTAIL = 12,
CUSTOM = 13,
NUM_MIXERS,
INVALID_MIXER = 255
};
Expand Down Expand Up @@ -106,6 +108,7 @@ class Mixer : public ParamListenerInterface
void write_servo(uint8_t index, float value);

const mixer_t esc_calibration_mixing = {{M, M, M, M, M, M, NONE, NONE},

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
Expand Down Expand Up @@ -191,7 +194,7 @@ class Mixer : public ParamListenerInterface
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE},
const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE}, // output type

{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
Expand All @@ -207,6 +210,23 @@ class Mixer : public ParamListenerInterface
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t fixedwing_vtail_mixing = {
{S, S, M, S, NONE, NONE, NONE, NONE}, // Ailerons, LRuddervator, Motor, RRuddervator

{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, -0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t custom_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type

{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t * mixer_to_use_;

// clang-format off
Expand All @@ -221,7 +241,9 @@ class Mixer : public ParamListenerInterface
&X8_mixing,
&tricopter_mixing,
&fixedwing_mixing,
&passthrough_mixing};
&passthrough_mixing,
&fixedwing_vtail_mixing,
&custom_mixing};
// clang-format on

public:
Expand Down
Loading