Beat Küng
3 years ago
committed by
Daniel Agar
21 changed files with 49 additions and 371 deletions
@ -1,14 +0,0 @@
@@ -1,14 +0,0 @@
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Mixer for quad tiltrotor (x motor configuration) |
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================================================ |
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A: 0 |
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A: 1 |
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A: 2 |
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A: 3 |
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A: 4 |
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A: 5 |
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A: 6 |
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A: 7 |
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A: 8 |
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A: 9 |
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A: 10 |
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@ -1,11 +0,0 @@
@@ -1,11 +0,0 @@
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# Direct mixer |
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# @board px4_fmu-v2 exclude |
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A: 0 |
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A: 1 |
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A: 2 |
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A: 3 |
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A: 4 |
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A: 5 |
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A: 6 |
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A: 7 |
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@ -0,0 +1,9 @@
@@ -0,0 +1,9 @@
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# Motor control message |
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uint64 timestamp # time since system start (microseconds) |
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled |
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uint8 NUM_CONTROLS = 8 |
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float32[8] control # range: [-1, 1], where 1 means maximum positive thrust, |
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# -1 maximum negative (if not supported by the output, <0 maps to NaN), |
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# and NaN maps to disarmed (stop the motors) |
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@ -0,0 +1,9 @@
@@ -0,0 +1,9 @@
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# Servo control message |
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uint64 timestamp # time since system start (microseconds) |
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled |
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uint8 NUM_CONTROLS = 8 |
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float32[8] control # range: [-1, 1], where 1 means maximum positive position, |
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# -1 maximum negative, |
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# and NaN maps to disarmed |
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@ -1,149 +0,0 @@
@@ -1,149 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2020 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file mixer_AllocatedActuatorMixer.cpp |
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* |
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* Mixer for allocated actuators. |
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* |
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* @author Julien Lecoeur <julien.lecoeur@gmail.com> |
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*/ |
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#include "AllocatedActuatorMixer.hpp" |
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#include <mathlib/mathlib.h> |
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#include <cstdio> |
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#include <px4_platform_common/defines.h> |
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// #define debug(fmt, args...) do { } while(0)
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#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) |
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AllocatedActuatorMixer::AllocatedActuatorMixer(ControlCallback control_cb, |
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uintptr_t cb_handle, |
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uint8_t index) : |
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Mixer(control_cb, cb_handle) |
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{ |
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if (index < 8) { |
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_control_group = 4; |
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_control_index = index; |
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} else if (index < 16) { |
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_control_group = 5; |
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_control_index = index - 8; |
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} else { |
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debug("'A:' invalid index"); |
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} |
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} |
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unsigned AllocatedActuatorMixer::set_trim(float trim) |
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{ |
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return 1; |
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} |
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unsigned AllocatedActuatorMixer::get_trim(float *trim) |
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{ |
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*trim = 0.0f; |
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return 1; |
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} |
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int |
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AllocatedActuatorMixer::parse(const char *buf, unsigned &buflen, uint8_t &index) |
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{ |
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int ret; |
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int i; |
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// enforce that the mixer ends with a new line
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if (!string_well_formed(buf, buflen)) { |
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return -1; |
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} |
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// parse line
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if ((ret = sscanf(buf, "A: %d", &i)) != 1) { |
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debug("'A:' parser: failed on '%s'", buf); |
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return -1; |
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} |
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buf = skipline(buf, buflen); |
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if (buf == nullptr) { |
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debug("'A:' parser: no line ending, line is incomplete"); |
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return -1; |
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} |
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// check parsed index
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if (i < 16) { |
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index = i; |
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} else { |
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debug("'A:' parser: invalid index"); |
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return -1; |
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} |
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return 0; |
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} |
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AllocatedActuatorMixer * |
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AllocatedActuatorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, |
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unsigned &buflen) |
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{ |
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uint8_t index; |
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if (parse(buf, buflen, index) == 0) { |
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return new AllocatedActuatorMixer(control_cb, cb_handle, index); |
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} else { |
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return nullptr; |
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} |
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} |
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unsigned |
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AllocatedActuatorMixer::mix(float *outputs, unsigned space) |
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{ |
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if (space < 1) { |
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return 0; |
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} |
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_control_cb(_cb_handle, |
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_control_group, |
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_control_index, |
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*outputs); |
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return 1; |
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} |
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void |
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AllocatedActuatorMixer::groups_required(uint32_t &groups) |
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{ |
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groups |= 1 << _control_group; |
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} |
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@ -1,103 +0,0 @@
@@ -1,103 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file mixer_AllocatedActuatorMixer.hpp |
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* |
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* Mixer for allocated actuators. |
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* |
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* @author Julien Lecoeur <julien.lecoeur@gmail.com> |
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*/ |
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#pragma once |
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#include <lib/mixer/MixerBase/Mixer.hpp> |
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/**
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* Mixer for allocated actuators. |
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* |
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* Copies a single actuator to a single output. |
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*/ |
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class AllocatedActuatorMixer : public Mixer |
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{ |
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public: |
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/**
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* Constructor |
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* |
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* @param index Actuator index (0..15) |
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*/ |
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AllocatedActuatorMixer(ControlCallback control_cb, |
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uintptr_t cb_handle, |
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uint8_t index); |
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virtual ~AllocatedActuatorMixer() = default; |
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// no copy, assignment, move, move assignment
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AllocatedActuatorMixer(const AllocatedActuatorMixer &) = delete; |
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AllocatedActuatorMixer &operator=(const AllocatedActuatorMixer &) = delete; |
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AllocatedActuatorMixer(AllocatedActuatorMixer &&) = delete; |
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AllocatedActuatorMixer &operator=(AllocatedActuatorMixer &&) = delete; |
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/**
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* Factory method with full external configuration. |
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* |
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* Given a pointer to a buffer containing a text description of the mixer, |
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* returns a pointer to a new instance of the mixer. |
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* |
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* @param control_cb The callback to invoke when fetching a |
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* control value. |
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* @param cb_handle Handle passed to the control callback. |
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* @param buf Buffer containing a text description of |
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* the mixer. |
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* @param buflen Length of the buffer in bytes, adjusted |
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* to reflect the bytes consumed. |
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* @return A new AllocatedActuatorMixer instance, or nullptr |
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* if the text format is bad. |
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*/ |
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static AllocatedActuatorMixer *from_text(Mixer::ControlCallback control_cb, |
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uintptr_t cb_handle, |
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const char *buf, |
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unsigned &buflen); |
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unsigned mix(float *outputs, unsigned space) override; |
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void groups_required(uint32_t &groups) override; |
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unsigned set_trim(float trim) override; |
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unsigned get_trim(float *trim) override; |
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private: |
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uint8_t _control_group; /**< group from which the input reads */ |
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uint8_t _control_index; /**< index within the control group */ |
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static int parse(const char *buf, |
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unsigned &buflen, |
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uint8_t &index); |
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}; |
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@ -1,39 +0,0 @@
@@ -1,39 +0,0 @@
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############################################################################ |
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# |
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# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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add_library(AllocatedActuatorMixer |
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AllocatedActuatorMixer.cpp |
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AllocatedActuatorMixer.hpp |
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) |
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target_link_libraries(AllocatedActuatorMixer PRIVATE MixerBase) |
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add_dependencies(AllocatedActuatorMixer prebuild_targets) |
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