HelicopterMixer.hpp
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/****************************************************************************
*
* 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
* 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.
*
****************************************************************************/
#pragma once
#include <mixer/MixerBase/Mixer.hpp>
/** helicopter swash servo mixer */
struct mixer_heli_servo_s {
float angle;
float arm_length;
float scale;
float offset;
float min_output;
float max_output;
};
#define HELI_CURVES_NR_POINTS 5
/** helicopter swash plate mixer */
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];
mixer_heli_servo_s servos[4]; /**< up to four inputs */
};
/**
* Generic helicopter mixer for helicopters with swash plate.
*
* Collects four inputs (roll, pitch, yaw, thrust) and mixes them to servo commands
* for swash plate tilting and throttle- and pitch curves.
*/
class HelicopterMixer : public Mixer
{
public:
/**
* Constructor.
*
* @param control_cb Callback invoked to read inputs.
* @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);
virtual ~HelicopterMixer() = default;
// no copy, assignment, move, move assignment
HelicopterMixer(const HelicopterMixer &) = delete;
HelicopterMixer &operator=(const HelicopterMixer &) = delete;
HelicopterMixer(HelicopterMixer &&) = delete;
HelicopterMixer &operator=(HelicopterMixer &&) = delete;
/**
* Factory method.
*
* Given a pointer to a buffer containing a text description of the mixer,
* returns a pointer to a new instance of the mixer.
*
* @param control_cb The callback to invoke when fetching a
* control value.
* @param cb_handle Handle passed to the control callback.
* @param buf Buffer containing a text description of
* the mixer.
* @param buflen Length of the buffer in bytes, adjusted
* to reflect the bytes consumed.
* @return A new HelicopterMixer instance, or nullptr
* if the text format is bad.
*/
static HelicopterMixer *from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf,
unsigned &buflen);
unsigned mix(float *outputs, unsigned space) override;
void groups_required(uint32_t &groups) override { groups |= (1 << 0); }
unsigned set_trim(float trim) override { return 4; }
unsigned get_trim(float *trim) override { return 4; }
private:
mixer_heli_s _mixer_info;
};