Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes.
Mixer basics
------------
Mixers combine control values from various sources (control tasks, user inputs,
etc.) and produce output values suitable for controlling actuators; servos,
motors, switches and so on.
An actuator derives its value from the combination of one or more control
values. Each of the control values is scaled according to the actuator's
configuration and then combined to produce the actuator value, which may then be
further scaled to suit the specific output type.
Internally, all scaling is performed using floating point values. Inputs and
outputs are clamped to the range -1.0 to 1.0.
control control control
| | |
v v v
scale scale scale
| | |
| v |
+-------> mix <------+
|
scale
|
v
out
Scaling
-------
Basic scalers provide linear scaling of the input to the output.
Each scaler allows the input value to be scaled independently for inputs
greater/less than zero. An offset can be applied to the output, and lower and
upper boundary constraints can be applied. Negative scaling factors cause the
output to be inverted (negative input produces positive output).
Scaler pseudocode:
if (input < 0)
output = (input * NEGATIVE_SCALE) + OFFSET
else
output = (input * POSITIVE_SCALE) + OFFSET
if (output < LOWER_LIMIT)
output = LOWER_LIMIT
if (output > UPPER_LIMIT)
output = UPPER_LIMIT
For a detailed description of the mixing architecture and examples see:
https://pixhawk.org/dev/mixing
Syntax
------
@ -65,6 +18,9 @@ Each file may define more than one mixer; the allocation of mixers to actuators
@@ -65,6 +18,9 @@ Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
For example: each simple or null mixer is assigned to outputs 1 to x
Lorenz Meier
10 years ago