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

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* 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>
This commit is contained in:
Gennaro Guidone
2026-03-16 14:59:53 -08:00
committed by GitHub
co-authored by Matthias Grob
parent 26c9ca115f
commit 00b27c56a8
39 changed files with 142 additions and 176 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/actuators/vertiq_io/vertiq_io.cpp
+3 -4
View File
@@ -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
+2 -3
View File
@@ -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: