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81 lines
3.1 KiB
81 lines
3.1 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: Nils Wenzler <wenzlern@ethz.ch> |
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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 Mixing / linking of RC channels |
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*/ |
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#include <nuttx/config.h> |
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#include <unistd.h> |
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#include <stdint.h> |
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#include "mix_and_link.h" |
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/* |
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* Library function that mixes the abstract functions like ROLL, PITCH, THROTTLE |
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* to one or several actuators. |
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* @param *mixers is a pointer to the configuration struct, declared in mix_and_link.h |
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* @param nr_mixers is a integer that denotes the number of mixers that should be processed |
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* @param nr_actuators is a integer that denotes the max number of actuators that get linked to one source |
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* @param *data is a pointer to the mixer data struct, declared in mix_and_link.h |
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*/ |
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void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data) |
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{ |
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/* Reset the Output Array */ |
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uint8_t i, j; |
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for (i = 0; i < nr_actuators; i++) { |
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data->output[i] = 0; |
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} |
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/* Loop throug the given mixers */ |
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for (i = 0; i < nr_mixers; i++) { |
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/* The actual mixing */ |
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for (j = 0; j < mixers[i].nr_actuators; j++) { |
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data->output[mixers[i].dest[j]] += (int16_t)(data->input[mixers[i].source] |
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* mixers[i].dual_rate[j]); |
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/* Saturate to +-10000 */ |
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if (data->output[mixers[i].dest[j]] > 10000) |
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data->output[mixers[i].dest[j]] = 10000; |
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else if (data->output[mixers[i].dest[j]] < -10000) |
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data->output[mixers[i].dest[j]] = -10000; |
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} |
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} |
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} |
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