mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header

src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -56,7 +56,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/esc_status.h>
 
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <lib/mixer/mixer_load.h>
 #include <battery/battery.h>
 
@@ -307,7 +307,7 @@ int initialize_mixers(const char *mixers_filename)
 	}
 
 	if (_mixers == nullptr) {
-		_mixers = new MixerGroup(mixers_control_callback, (uintptr_t)_controls);
+		_mixers = new MixerGroup();
 	}
 
 	if (_mixers == nullptr) {
@@ -315,7 +315,7 @@ int initialize_mixers(const char *mixers_filename)
 		return -1;
 
 	} else {
-		int ret = _mixers->load_from_buf(buf, buflen);
+		int ret = _mixers->load_from_buf(mixers_control_callback, (uintptr_t)_controls, buf, buflen);
 
 		if (ret != 0) {
 			PX4_ERR("Unable to parse mixers file");

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -51,7 +51,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <lib/mixer/mixer_load.h>
 #include <parameters/param.h>
 #include <output_limit/output_limit.h>
@@ -155,12 +155,12 @@ int initialize_mixer(const char *mixer_filename)
 	unsigned buflen = sizeof(buf);
 	memset(buf, '\0', buflen);
 
-	_mixer_group = new MixerGroup(mixer_control_callback, (uintptr_t) &_controls);
+	_mixer_group = new MixerGroup();
 
 	// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
 
 	if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
-		if (_mixer_group->load_from_buf(buf, buflen) == 0) {
+		if (_mixer_group->load_from_buf(mixer_control_callback, (uintptr_t) &_controls, buf, buflen) == 0) {
 			PX4_INFO("Loaded mixer from file %s", mixer_filename);
 			return 0;
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -72,7 +72,7 @@
 #include <drivers/drv_tone_alarm.h>
 
 #include <systemlib/err.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -1045,7 +1045,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			unsigned buflen = strlen(buf);
 
 			if (_mixers == nullptr) {
-				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+				_mixers = new MixerGroup();
 			}
 
 			if (_mixers == nullptr) {
@@ -1053,7 +1053,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 			} else {
 
-				ret = _mixers->load_from_buf(buf, buflen);
+				ret = _mixers->load_from_buf(control_callback, (uintptr_t)&_controls, buf, buflen);
 
 				if (ret != 0) {
 					DEVICE_DEBUG("mixer load failed with %d", ret);

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,7 +37,6 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
-#include <lib/mixer/mixer.h>
 #include <lib/mixer_module/mixer_module.hpp>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/module.h>

src/drivers/px4io/px4io.cpp

@@ -70,7 +70,8 @@
 #include <rc/dsm.h>
 
 #include <lib/mathlib/mathlib.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
+#include <lib/mixer/MultirotorMixer.hpp>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>

src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp

@@ -46,7 +46,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <lib/mixer/mixer_multirotor_normalized.generated.h>
 #include <parameters/param.h>
 

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -48,12 +48,13 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <mixer/mixer.h>
-#include <mixer/mixer_load.h>
-#include <mixer/mixer_multirotor_normalized.generated.h>
-#include <parameters/param.h>
-#include <perf/perf_counter.h>
-#include <output_limit/output_limit.h>
+#include <lib/mixer/MultirotorMixer.hpp>
+#include <lib/mixer/MixerGroup.hpp>
+#include <lib/mixer/mixer_load.h>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+#include <lib/output_limit/output_limit.h>
+
 #include <dev_fs_lib_pwm.h>
 
 /*
@@ -174,55 +175,30 @@ void update_params(Mixer::Airmode &airmode)
 
 int initialize_mixer(const char *mixer_filename)
 {
-
 	char buf[2048];
 	size_t buflen = sizeof(buf);
 	PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
 	int fd_load = ::open(mixer_filename, O_RDONLY);
 
-	if (fd_load != -1) {
-		int nRead = ::read(fd_load, buf, buflen);
-		close(fd_load);
+	int nRead = ::read(fd_load, buf, buflen);
+	close(fd_load);
 
-		if (nRead > 0) {
-			_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
+	if (nRead > 0) {
+		_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
 
-			if (_mixer != nullptr) {
-				PX4_INFO("Successfully initialized mixer from config file");
-				return 0;
-
-			} else {
-				PX4_ERR("Unable to parse from mixer config file");
-				return -1;
-			}
+		if (_mixer != nullptr) {
+			PX4_INFO("Successfully initialized mixer from config file");
+			return 0;
 
 		} else {
-			PX4_WARN("Unable to read from mixer config file");
-			return -2;
-		}
-
-	} else {
-		PX4_WARN("No mixer config file found, using default mixer.");
-
-		/* Mixer file loading failed, fall back to default mixer configuration for
-		* QUAD_X airframe. */
-		float roll_scale = 1;
-		float pitch_scale = 1;
-		float yaw_scale = 1;
-		float deadband = 0;
-
-		_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
-					     MultirotorGeometry::QUAD_X,
-					     roll_scale, pitch_scale, yaw_scale, deadband);
-
-		if (_mixer == nullptr) {
+			PX4_ERR("Unable to parse from mixer config file");
 			return -1;
 		}
 
-		return 0;
-
+	} else {
+		PX4_WARN("Unable to read from mixer config file");
+		return -2;
 	}
-
 }
 
 void subscribe()

src/drivers/tap_esc/tap_esc.cpp

@@ -59,7 +59,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 
 #include "tap_esc_common.h"
 
@@ -677,7 +677,7 @@ int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 			unsigned buflen = strlen(buf);
 
 			if (_mixers == nullptr) {
-				_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
+				_mixers = new MixerGroup();
 			}
 
 			if (_mixers == nullptr) {
@@ -685,8 +685,7 @@ int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 				ret = -ENOMEM;
 
 			} else {
-
-				ret = _mixers->load_from_buf(buf, buflen);
+				ret = _mixers->load_from_buf(control_callback_trampoline, (uintptr_t)this, buf, buflen);
 
 				if (ret != 0) {
 					PX4_DEBUG("mixer load failed with %d", ret);

src/drivers/uavcan/uavcan_main.cpp

@@ -50,7 +50,6 @@
 #include <fcntl.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <lib/mixer/mixer.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>

src/drivers/uavcan/uavcan_servers.cpp

@@ -44,7 +44,6 @@
 #include <mathlib/mathlib.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <lib/mixer/mixer.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>

src/drivers/uavcanesc/uavcanesc_main.cpp

@@ -43,7 +43,7 @@
 #include <fcntl.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>

src/drivers/uavcannode/uavcannode_main.cpp

@@ -46,7 +46,7 @@
 #include <fcntl.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <version/version.h>
 __BEGIN_DECLS
 #include <nuttx/board.h>

src/lib/mixer/HelicopterMixer.cpp

@@ -37,8 +37,6 @@
  * Helicopter mixers.
  */
 
-#include "mixer.h"
-
 #include "HelicopterMixer.hpp"
 
 #include <mathlib/mathlib.h>
@@ -52,9 +50,9 @@
 
 using math::constrain;
 
-HelicopterMixer::HelicopterMixer(ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s *mixer_info) :
+HelicopterMixer::HelicopterMixer(ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s mixer_info) :
 	Mixer(control_cb, cb_handle),
-	_mixer_info(*mixer_info)
+	_mixer_info(mixer_info)
 {
 }
 
@@ -182,10 +180,7 @@ HelicopterMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 
 	debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
 
-	HelicopterMixer *hm = new HelicopterMixer(
-		control_cb,
-		cb_handle,
-		&mixer_info);
+	HelicopterMixer *hm = new HelicopterMixer(control_cb, cb_handle, mixer_info);
 
 	if (hm != nullptr) {
 		debug("loaded heli mixer with %d swash plate input(s)", mixer_info.control_count);

src/lib/mixer/HelicopterMixer.hpp

@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include "Mixer.hpp"
+
 /** helicopter swash servo mixer */
 struct mixer_heli_servo_s {
 	float angle;
@@ -50,7 +52,7 @@ struct mixer_heli_s {
 	uint8_t				control_count;	/**< number of inputs */
 	float				throttle_curve[HELI_CURVES_NR_POINTS];
 	float				pitch_curve[HELI_CURVES_NR_POINTS];
-	struct mixer_heli_servo_s	servos[4];	/**< up to four inputs */
+	mixer_heli_servo_s		servos[4];	/**< up to four inputs */
 };
 
 /**
@@ -69,7 +71,7 @@ public:
 	 * @param cb_handle		Passed to control_cb.
 	 * @param mixer_info		Pointer to heli mixer configuration
 	 */
-	HelicopterMixer(ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s *mixer_info);
+	HelicopterMixer(ControlCallback control_cb, uintptr_t cb_handle, mixer_heli_s mixer_info);
 	virtual ~HelicopterMixer() = default;
 
 	// no copy, assignment, move, move assignment

src/lib/mixer/Mixer.cpp

@@ -37,8 +37,6 @@
  * Programmable multi-channel mixer library.
  */
 
-#include "mixer.h"
-
 #include "Mixer.hpp"
 
 #include <math.h>
@@ -48,12 +46,6 @@
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 
-Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
-	_control_cb(control_cb),
-	_cb_handle(cb_handle)
-{
-}
-
 float
 Mixer::get_control(uint8_t group, uint8_t index)
 {

src/lib/mixer/Mixer.hpp

@@ -31,16 +31,102 @@
  *
  ****************************************************************************/
 
+/**
+ * @file Mixer.hpp
+ *
+ * Generic, programmable, procedural control signal mixers.
+ *
+ * This library implements a generic mixer interface that can be used
+ * by any driver or subsytem that wants to combine several control signals
+ * into a single output.
+ *
+ * Terminology
+ * ===========
+ *
+ * control value
+ *	A mixer input value, typically provided by some controlling
+ *	component of the system.
+ *
+ * control group
+ * 	A collection of controls provided by a single controlling component.
+ *
+ * actuator
+ *	The mixer output value.
+ *
+ *
+ * Mixing basics
+ * =============
+ *
+ * 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
+ * -------
+ *
+ * Each scaler allows the input value to be scaled independently for
+ * inputs greater/less than zero. An offset can be applied to the output,
+ * as well as lower and upper boundary constraints.
+ * 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
+ *
+ *
+ * Mixing
+ * ------
+ *
+ * Mixing behaviour varies based on the specific mixer class; each
+ * mixer class describes its behaviour in more detail.
+ *
+ *
+ * Controls
+ * --------
+ *
+ * The precise assignment of controls may vary depending on the
+ * application, but the following assignments should be used
+ * when appropriate.  Some mixer classes have specific assumptions
+ * about the assignment of controls.
+ *
+ * control | standard meaning
+ * --------+-----------------------
+ *     0   | roll
+ *     1   | pitch
+ *     2   | yaw
+ *     3   | primary thrust
+ */
+
 #pragma once
 
-/** simple channel scaler */
-struct mixer_scaler_s {
-	float			negative_scale;
-	float			positive_scale;
-	float			offset;
-	float			min_output;
-	float			max_output;
-};
+#include <mathlib/mathlib.h>
 
 /**
  * Abstract class defining a mixer mixing zero or more inputs to
@@ -74,7 +160,7 @@ public:
 	 *
 	 * @param control_cb		Callback invoked when reading controls.
 	 */
-	Mixer(ControlCallback control_cb, uintptr_t cb_handle);
+	Mixer(ControlCallback control_cb, uintptr_t cb_handle) : _control_cb(control_cb), _cb_handle(cb_handle) {}
 	virtual ~Mixer() = default;
 
 	// no copy, assignment, move, move assignment
@@ -146,6 +232,7 @@ public:
 	virtual unsigned		get_multirotor_count()  { return 0; }
 
 protected:
+
 	/** client-supplied callback used when fetching control values */
 	ControlCallback			_control_cb;
 	uintptr_t			_cb_handle;

src/lib/mixer/MixerGroup.cpp

@@ -37,39 +37,19 @@
  * Mixer collection.
  */
 
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-#include "mixer.h"
+#include "MixerGroup.hpp"
 
 #include "MixerGroup.hpp"
+#include "NullMixer.hpp"
+#include "SimpleMixer.hpp"
+#include "MultirotorMixer.hpp"
+#include "HelicopterMixer.hpp"
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
 //#define debug(fmt, args...)	syslog(fmt "\n", ##args)
 
-MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
-	Mixer(control_cb, cb_handle)
-{
-}
-
-MixerGroup::~MixerGroup()
-{
-	reset();
-}
-
 void
 MixerGroup::add_mixer(Mixer *mixer)
 {
@@ -187,7 +167,7 @@ MixerGroup::set_thrust_factor(float val)
 }
 
 void
-MixerGroup::set_airmode(Airmode airmode)
+MixerGroup::set_airmode(Mixer::Airmode airmode)
 {
 	Mixer *mixer = _first;
 
@@ -255,7 +235,7 @@ MixerGroup::groups_required(uint32_t &groups)
 }
 
 int
-MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
+MixerGroup::load_from_buf(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
 {
 	int ret = -1;
 	const char *end = buf + buflen;
@@ -278,15 +258,15 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
 			break;
 
 		case 'M':
-			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid);
+			m = SimpleMixer::from_text(control_cb, cb_handle, p, resid);
 			break;
 
 		case 'R':
-			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid);
+			m = MultirotorMixer::from_text(control_cb, cb_handle, p, resid);
 			break;
 
 		case 'H':
-			m = HelicopterMixer::from_text(_control_cb, _cb_handle, p, resid);
+			m = HelicopterMixer::from_text(control_cb, cb_handle, p, resid);
 			break;
 
 		default:

src/lib/mixer/MixerGroup.hpp

@@ -33,15 +33,21 @@
 
 #pragma once
 
+#include "Mixer.hpp"
+
 /**
  * Group of mixers, built up from single mixers and processed
  * in order when mixing.
  */
-class MixerGroup : public Mixer
+class MixerGroup
 {
 public:
-	MixerGroup(ControlCallback control_cb, uintptr_t cb_handle);
-	virtual ~MixerGroup();
+	MixerGroup() = default;
+
+	~MixerGroup()
+	{
+		reset();
+	}
 
 	// no copy, assignment, move, move assignment
 	MixerGroup(const MixerGroup &) = delete;
@@ -49,9 +55,11 @@ public:
 	MixerGroup(MixerGroup &&) = delete;
 	MixerGroup &operator=(MixerGroup &&) = delete;
 
-	unsigned		mix(float *outputs, unsigned space) override;
-	uint16_t		get_saturation_status() override;
-	void			groups_required(uint32_t &groups) override;
+	unsigned			mix(float *outputs, unsigned space);
+
+	uint16_t			get_saturation_status();
+
+	void				groups_required(uint32_t &groups);
 
 	/**
 	 * Add a mixer to the group.
@@ -125,7 +133,7 @@ public:
 	 *				bytes as they are consumed.
 	 * @return			Zero on successful load, nonzero otherwise.
 	 */
-	int				load_from_buf(const char *buf, unsigned &buflen);
+	int				load_from_buf(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen);
 
 	/**
 	 * @brief      Update slew rate parameter. This tells instances of the class MultirotorMixer
@@ -137,25 +145,25 @@ public:
 	 * @param[in]  delta_out_max  Maximum delta output.
 	 *
 	 */
-	void 			set_max_delta_out_once(float delta_out_max) override;
+	void 				set_max_delta_out_once(float delta_out_max);
 
 	/*
 	 * Invoke the set_offset method of each mixer in the group
 	 * for each value in page r_page_servo_control_trim
 	 */
-	unsigned set_trims(int16_t *v, unsigned n);
-	unsigned get_trims(int16_t *values);
+	unsigned			set_trims(int16_t *v, unsigned n);
+	unsigned			get_trims(int16_t *values);
 
 	/**
 	 * @brief      Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output.
 	 *
 	 * @param[in]  val   The value
 	 */
-	void	set_thrust_factor(float val) override;
+	void				set_thrust_factor(float val);
 
-	void 	set_airmode(Airmode airmode) override;
+	void				set_airmode(Mixer::Airmode airmode);
 
-	unsigned get_multirotor_count() override;
+	unsigned			get_multirotor_count();
 
 private:
 	Mixer				*_first{nullptr};	/**< linked list of mixers */

src/lib/mixer/MultirotorMixer.cpp

@@ -37,7 +37,7 @@
  * Multi-rotor mixers.
  */
 
-#include "mixer.h"
+#include "MultirotorMixer.hpp"
 
 #include <float.h>
 #include <cstring>
@@ -45,8 +45,6 @@
 
 #include <mathlib/mathlib.h>
 
-#include "MultirotorMixer.hpp"
-
 #ifdef MIXER_MULTIROTOR_USE_MOCK_GEOMETRY
 enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {
 	QUAD_X,
@@ -81,28 +79,18 @@ const char *_config_key[] = {"4x"};
 //#include <debug.h>
 //#define debug(fmt, args...)	syslog(fmt "\n", ##args)
 
-MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
-				 uintptr_t cb_handle,
-				 MultirotorGeometry geometry,
-				 float roll_scale,
-				 float pitch_scale,
-				 float yaw_scale,
-				 float idle_speed) :
-	Mixer(control_cb, cb_handle),
-	_roll_scale(roll_scale),
-	_pitch_scale(pitch_scale),
-	_yaw_scale(yaw_scale),
-	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
-	_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
-	_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]),
-	_outputs_prev(new float[_rotor_count]),
-	_tmp_array(new float[_rotor_count])
+MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry,
+				 float roll_scale, float pitch_scale, float yaw_scale, float idle_speed) :
+	MultirotorMixer(control_cb, cb_handle, _config_index[(int)geometry], _config_rotor_count[(int)geometry])
 {
-	for (unsigned i = 0; i < _rotor_count; ++i) {
-		_outputs_prev[i] = _idle_speed;
-	}
+	_roll_scale = roll_scale;
+	_pitch_scale = pitch_scale;
+	_yaw_scale = yaw_scale;
+	_idle_speed = -1.0f + idle_speed * 2.0f;	/* shift to output range here to avoid runtime calculation */
 }
-MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, Rotor *rotors, unsigned rotor_count) :
+
+MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, const Rotor *rotors,
+				 unsigned rotor_count) :
 	Mixer(control_cb, cb_handle),
 	_rotor_count(rotor_count),
 	_rotors(rotors),
@@ -423,7 +411,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 				outputs[i] = _outputs_prev[i] - _delta_out_max;
 				clipping_low_roll_pitch = true;
 				clipping_low_yaw = true;
-
 			}
 		}
 

src/lib/mixer/MultirotorMixer.hpp

@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include "Mixer.hpp"
+
 /**
  * Supported multirotor geometries.
  *
@@ -77,13 +79,8 @@ public:
 	 *				tuned to ensure that rotors never stall at the
 	 * 				low end of their control range.
 	 */
-	MultirotorMixer(ControlCallback control_cb,
-			uintptr_t cb_handle,
-			MultirotorGeometry geometry,
-			float roll_scale,
-			float pitch_scale,
-			float yaw_scale,
-			float idle_speed);
+	MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry,
+			float roll_scale, float pitch_scale, float yaw_scale, float idle_speed);
 
 	/**
 	 * Constructor (for testing).
@@ -93,7 +90,7 @@ public:
 	 * @param rotors		control allocation matrix
 	 * @param rotor_count		length of rotors array (= number of motors)
 	 */
-	MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, Rotor *rotors, unsigned rotor_count);
+	MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, const Rotor *rotors, unsigned rotor_count);
 	virtual ~MultirotorMixer();
 
 	// no copy, assignment, move, move assignment

src/lib/mixer/NullMixer.cpp

@@ -31,17 +31,12 @@
  *
  ****************************************************************************/
 
-#include "mixer.h"
+#include "NullMixer.hpp"
 
 #include <math.h>
 #include <cstring>
 #include <ctype.h>
 
-NullMixer::NullMixer() :
-	Mixer(nullptr, 0)
-{
-}
-
 unsigned
 NullMixer::mix(float *outputs, unsigned space)
 {

src/lib/mixer/NullMixer.hpp

@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include "Mixer.hpp"
+
 /**
  * Null mixer; returns zero.
  *
@@ -41,7 +43,7 @@
 class NullMixer : public Mixer
 {
 public:
-	NullMixer();
+	NullMixer() : Mixer(nullptr, 0) {}
 	virtual ~NullMixer() = default;
 
 	// no copy, assignment, move, move assignment
@@ -65,9 +67,9 @@ public:
 	 */
 	static NullMixer		*from_text(const char *buf, unsigned &buflen);
 
-	unsigned		mix(float *outputs, unsigned space) override;
+	unsigned			mix(float *outputs, unsigned space) override;
 
-	unsigned		set_trim(float trim) override { return 1; }
-	unsigned		get_trim(float *trim) override { return 1; }
+	unsigned			set_trim(float trim) override { return 1; }
+	unsigned			get_trim(float *trim) override { return 1; }
 
 };

src/lib/mixer/SimpleMixer.cpp

@@ -37,7 +37,8 @@
  * Simple summing mixer.
  */
 
-#include "mixer.h"
+#include "SimpleMixer.hpp"
+
 #include <stdio.h>
 #include <stdlib.h>
 
@@ -190,7 +191,6 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
 	next_tag = findnexttag(end - buflen, buflen);
 
 	if (next_tag == 'S') {
-
 		/* No output scalers specified. Use default values.
 		 * Corresponds to:
 		 * O:      10000  10000      0 -10000  10000
@@ -202,7 +202,6 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
 		mixinfo->output_scaler.max_output	= 1.0f;
 
 	} else {
-
 		if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) {
 			debug("simple mixer parser failed parsing out scaler tag, ret: '%s'", buf);
 			goto out;
@@ -217,7 +216,6 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
 			debug("simple mixer parser failed parsing ctrl scaler tag, ret: '%s'", buf);
 			goto out;
 		}
-
 	}
 
 	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);

src/lib/mixer/SimpleMixer.hpp

@@ -33,11 +33,22 @@
 
 #pragma once
 
+#include "Mixer.hpp"
+
+/** simple channel scaler */
+struct mixer_scaler_s {
+	float negative_scale{1.0f};
+	float positive_scale{1.0f};
+	float offset{0.0f};
+	float min_output{-1.0f};
+	float max_output{1.0f};
+};
+
 /** mixer input */
 struct mixer_control_s {
 	uint8_t			control_group;	/**< group from which the input reads */
 	uint8_t			control_index;	/**< index within the control group */
-	struct mixer_scaler_s 	scaler;		/**< scaling applied to the input before use */
+	mixer_scaler_s		scaler;		/**< scaling applied to the input before use */
 };
 
 #define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
@@ -45,8 +56,8 @@ struct mixer_control_s {
 /** simple mixer */
 struct mixer_simple_s {
 	uint8_t			control_count;	/**< number of inputs */
-	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
-	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
+	mixer_scaler_s		output_scaler;	/**< scaling for the output */
+	mixer_control_s		controls[];	/**< actual size of the array is set by control_count */
 };
 
 /**
@@ -132,6 +143,6 @@ private:
 	static int parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group,
 					uint8_t &control_index);
 
-	mixer_simple_s			*_pinfo{nullptr};
+	mixer_simple_s			*_pinfo;
 
 };

src/lib/mixer/load_mixer_file.cpp

@@ -45,8 +45,8 @@
 
 int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
 {
-	FILE		*fp;
-	char		line[120];
+	FILE *fp;
+	char line[120];
 
 	/* open the mixer definition file */
 	fp = fopen(fname, "r");

src/lib/mixer/mixer.h

@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * 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
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer.h
- *
- * Generic, programmable, procedural control signal mixers.
- *
- * This library implements a generic mixer interface that can be used
- * by any driver or subsytem that wants to combine several control signals
- * into a single output.
- *
- * Terminology
- * ===========
- *
- * control value
- *	A mixer input value, typically provided by some controlling
- *	component of the system.
- *
- * control group
- * 	A collection of controls provided by a single controlling component.
- *
- * actuator
- *	The mixer output value.
- *
- *
- * Mixing basics
- * =============
- *
- * 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
- * -------
- *
- * Each scaler allows the input value to be scaled independently for
- * inputs greater/less than zero. An offset can be applied to the output,
- * as well as lower and upper boundary constraints.
- * 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
- *
- *
- * Mixing
- * ------
- *
- * Mixing behaviour varies based on the specific mixer class; each
- * mixer class describes its behaviour in more detail.
- *
- *
- * Controls
- * --------
- *
- * The precise assignment of controls may vary depending on the
- * application, but the following assignments should be used
- * when appropriate.  Some mixer classes have specific assumptions
- * about the assignment of controls.
- *
- * control | standard meaning
- * --------+-----------------------
- *     0   | roll
- *     1   | pitch
- *     2   | yaw
- *     3   | primary thrust
- */
-
-
-#pragma once
-
-#include <stdint.h>
-#include <lib/mathlib/mathlib.h>
-
-#include "Mixer.hpp"
-#include "MixerGroup.hpp"
-#include "NullMixer.hpp"
-#include "SimpleMixer.hpp"
-#include "MultirotorMixer.hpp"
-#include "HelicopterMixer.hpp"

src/lib/mixer/test_mixer_multirotor.cpp

@@ -36,7 +36,8 @@
  * via file or stdin and compares the mixer output against expected values.
  */
 
-#include "mixer.h"
+#include "MultirotorMixer.hpp"
+
 #include <cstdio>
 #include <cmath>
 

src/lib/mixer_module/mixer_module.cpp

@@ -33,6 +33,8 @@
 
 #include "mixer_module.hpp"
 
+#include <lib/mixer/MultirotorMixer.hpp>
+
 #include <uORB/PublicationQueued.hpp>
 #include <px4_platform_common/log.h>
 
@@ -543,7 +545,7 @@ void MixingOutput::resetMixer()
 int MixingOutput::loadMixer(const char *buf, unsigned len)
 {
 	if (_mixers == nullptr) {
-		_mixers = new MixerGroup(controlCallback, (uintptr_t)this);
+		_mixers = new MixerGroup();
 	}
 
 	if (_mixers == nullptr) {
@@ -551,7 +553,7 @@ int MixingOutput::loadMixer(const char *buf, unsigned len)
 		return -ENOMEM;
 	}
 
-	int ret = _mixers->load_from_buf(buf, len);
+	int ret = _mixers->load_from_buf(controlCallback, (uintptr_t)this, buf, len);
 
 	if (ret != 0) {
 		PX4_ERR("mixer load failed with %d", ret);

src/lib/mixer_module/mixer_module.hpp

@@ -35,7 +35,7 @@
 
 #include <board_config.h>
 #include <drivers/drv_pwm_output.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/output_limit/output_limit.h>
 #include <px4_platform_common/atomic.h>
@@ -52,7 +52,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/test_motor.h>
 
-
 /**
  * @class OutputModuleInterface
  * Base class for an output module.

src/modules/mc_att_control/mc_att_control.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/Mixer.hpp>
 #include <matrix/matrix/math.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/px4_config.h>

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -37,7 +37,6 @@
 
 #include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <lib/mixer/mixer.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>

src/modules/mc_rate_control/RateControl/RateControl.hpp

@@ -42,7 +42,7 @@
 #include <matrix/matrix/math.hpp>
 #include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
 
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/MultirotorMixer.hpp>
 #include <uORB/topics/rate_ctrl_status.h>
 
 class RateControl

src/modules/px4iofirmware/mixer.cpp

@@ -51,7 +51,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
-#include <mixer/mixer.h>
+#include <lib/mixer/MixerGroup.hpp>
 #include <output_limit/output_limit.h>
 #include <rc/sbus.h>
 
@@ -96,7 +96,7 @@ static volatile mixer_source source;
 static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control);
 static int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits);
 
-static MixerGroup mixer_group(mixer_callback, 0);
+static MixerGroup mixer_group;
 
 int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
 {
@@ -114,7 +114,7 @@ int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
 }
 
 void
-mixer_tick(void)
+mixer_tick()
 {
 	/* check if the mixer got modified */
 	mixer_handle_text_create_mixer();
@@ -540,7 +540,7 @@ mixer_handle_text_create_mixer()
 
 	/* process the text buffer, adding new mixers as their descriptions can be parsed */
 	unsigned resid = mixer_text_length;
-	mixer_group.load_from_buf(&mixer_text[0], resid);
+	mixer_group.load_from_buf(mixer_callback, 0, &mixer_text[0], resid);
 
 	/* if anything was parsed */
 	if (resid != mixer_text_length) {

src/systemcmds/mixer/mixer.cpp

@@ -49,7 +49,7 @@
 #include <ctype.h>
 
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/mixer.h>
+#include <lib/mixer/Mixer.hpp>
 #include <lib/mixer/mixer_load.h>
 #include <uORB/topics/actuator_controls.h>
 

src/systemcmds/tests/test_autodeclination.cpp

@@ -43,7 +43,6 @@
 #include <ecl/geo_lookup/geo_mag_declination.h>
 #include <px4iofirmware/px4io.h>
 #include <systemlib/err.h>
-#include <lib/mixer/mixer.h>
 
 #include <math.h>
 #include <stdio.h>

src/systemcmds/tests/test_mixer.cpp

@@ -43,8 +43,8 @@
 #include <math.h>
 
 #include <px4_platform_common/px4_config.h>
-#include <mixer/mixer.h>
-#include <mixer/mixer_load.h>
+#include <lib/mixer/MixerGroup.hpp>
+#include <lib/mixer/mixer_load.h>
 #include <output_limit/output_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
@@ -95,7 +95,7 @@ class MixerTest : public UnitTest
 {
 public:
 	virtual bool run_tests();
-	MixerTest();
+	MixerTest() = default;
 
 private:
 	bool mixerTest();
@@ -112,11 +112,6 @@ private:
 	MixerGroup mixer_group;
 };
 
-MixerTest::MixerTest() :
-	mixer_group(mixer_callback, 0)
-{
-}
-
 bool MixerTest::run_tests()
 {
 	ut_run_test(loadIOPass);
@@ -251,11 +246,8 @@ bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool v
 }
 
 bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count,
-			   const unsigned chunk_size,
-			   bool verbose)
+			   const unsigned chunk_size, bool verbose)
 {
-
-
 	/* load the mixer in chunks, like
 	 * in the case of a remote load,
 	 * e.g. on PX4IO.
@@ -264,7 +256,7 @@ bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loade
 	/* load at once test */
 	unsigned xx = loaded;
 	mixer_group.reset();
-	mixer_group.load_from_buf(&buf[0], xx);
+	mixer_group.load_from_buf(mixer_callback, 0, &buf[0], xx);
 
 	if (expected_count > 0) {
 		ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
@@ -275,7 +267,7 @@ bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loade
 	empty_buf[0] = ' ';
 	empty_buf[1] = '\0';
 	mixer_group.reset();
-	mixer_group.load_from_buf(&empty_buf[0], empty_load);
+	mixer_group.load_from_buf(mixer_callback, 0, &empty_buf[0], empty_load);
 
 	if (verbose) {
 		PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
@@ -310,7 +302,7 @@ bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loade
 
 		/* process the text buffer, adding new mixers as their descriptions can be parsed */
 		resid = mixer_text_length;
-		mixer_group.load_from_buf(&mixer_text[0], resid);
+		mixer_group.load_from_buf(mixer_callback, 0, &mixer_text[0], resid);
 
 		/* if anything was parsed */
 		if (resid != mixer_text_length) {