fix(mixer_module): change MixingOutput to use float outputs (#26724)

* refactor(mixer_module): change MixingOutput to use float outputs

MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.

* fix(mixer_module): fix float safety issues

-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)

* refactor(mixer_module): float rounding suggestions

* fix(pwm_sim): fix inverted disarmed condition

* fix(mixer_module): more float rounding improvements

* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>

src/drivers/actuators/vertiq_io/vertiq_io.cpp

@@ -183,11 +183,11 @@ void VertiqIo::parameters_update()
 	}
 }
 
-void VertiqIo::OutputControls(uint16_t outputs[MAX_ACTUATORS])
+void VertiqIo::OutputControls(float outputs[MAX_ACTUATORS])
 {
 	//Put the mixer outputs into the output message
 	for (uint8_t i = 0; i < _transmission_message.num_cvs; i++) {
-		_transmission_message.commands[i] = outputs[i];
+		_transmission_message.commands[i] = static_cast<uint16_t>(lroundf(outputs[i]));
 	}
 
 	_operational_ifci.PackageIfciCommandsForTransmission(&_transmission_message, _output_message, &_output_len);
@@ -195,8 +195,7 @@ void VertiqIo::OutputControls(uint16_t outputs[MAX_ACTUATORS])
 	_serial_interface.ProcessSerialTx();
 }
 
-bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-			     unsigned num_control_groups_updated)
+bool VertiqIo::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 

src/drivers/actuators/vertiq_io/vertiq_io.hpp

@@ -94,14 +94,13 @@ public:
 	void print_info();
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	/**
 	* @brief Used to package and transmit controls via IQUART
 	* @param outputs The output throttles calculated by the mixer
 	*/
-	void OutputControls(uint16_t outputs[MAX_ACTUATORS]);
+	void OutputControls(float outputs[MAX_ACTUATORS]);
 
 private:
 

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -1237,8 +1237,7 @@ void VoxlEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
 }
 
 /* OutputModuleInterface */
-bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			    unsigned num_outputs, unsigned num_control_groups_updated)
+bool VoxlEsc::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	//in Run() we call _mixing_output.update(), which calls MixingOutput::limitAndUpdateOutputs which calls _interface.updateOutputs (this function)
 	//So, if Run() is blocked by a custom command, this function will not be called until Run is running again
@@ -1247,9 +1246,16 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 		return false;
 	}
 
+	// Convert float outputs to uint16_t hardware values
+	uint16_t hw_outputs[VOXL_ESC_OUTPUT_CHANNELS] {};
+
+	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
+		hw_outputs[i] = static_cast<uint16_t>(lroundf(outputs[i]));
+	}
+
 	// don't use mixed values... recompute now.
 	if (_turtle_mode_en) {
-		mix_turtle_mode(outputs);
+		mix_turtle_mode(hw_outputs);
 	}
 
 	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
@@ -1259,24 +1265,24 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 		} else {
 			if ((_turtle_mode_en) || (_parameters.cmd_type == VOXL_ESC_RPM_CMDS)) {
 				if (_extended_rpm) {
-					if (outputs[i] > VOXL_ESC_RPM_MAX_EXT) { outputs[i] = VOXL_ESC_RPM_MAX_EXT; }
+					if (hw_outputs[i] > VOXL_ESC_RPM_MAX_EXT) { hw_outputs[i] = VOXL_ESC_RPM_MAX_EXT; }
 
 				} else {
-					if (outputs[i] > VOXL_ESC_RPM_MAX) { outputs[i] = VOXL_ESC_RPM_MAX; }
+					if (hw_outputs[i] > VOXL_ESC_RPM_MAX) { hw_outputs[i] = VOXL_ESC_RPM_MAX; }
 				}
 
 			} else if (_parameters.cmd_type == VOXL_ESC_PWM_CMDS) {
-				if (outputs[i] > VOXL_ESC_PWM_MAX) { outputs[i] = VOXL_ESC_PWM_MAX; }
+				if (hw_outputs[i] > VOXL_ESC_PWM_MAX) { hw_outputs[i] = VOXL_ESC_PWM_MAX; }
 
-				else if (outputs[i] < _min_active_pwm) { outputs[i] = _min_active_pwm; }
+				else if (hw_outputs[i] < _min_active_pwm) { hw_outputs[i] = _min_active_pwm; }
 			}
 
 			if (!_turtle_mode_en) {
-				_esc_chans[i].rate_req = outputs[i] * _output_map[i].direction;
+				_esc_chans[i].rate_req = hw_outputs[i] * _output_map[i].direction;
 
 			} else {
 				// mapping updated in mixTurtleMode, no remap needed here, but reverse direction
-				_esc_chans[i].rate_req = outputs[i] * _output_map[i].direction * (-1);
+				_esc_chans[i].rate_req = hw_outputs[i] * _output_map[i].direction * (-1);
 			}
 		}
 	}

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -83,8 +83,7 @@ public:
 	void print_params();
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	virtual int	init();
 	int device_init(); // function where uart port is opened and ESC queried