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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
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src/drivers/cyphal/Actuators/EscClient.hpp
+3 -3
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@@ -169,7 +169,7 @@ public:
{
}
void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
void update_outputs(float outputs[MAX_ACTUATORS], unsigned num_outputs)
{
if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) {
return;
@@ -178,7 +178,7 @@ public:
uint8_t max_num_outputs = MAX_ACTUATORS > num_outputs ? num_outputs : MAX_ACTUATORS;
for (int8_t i = max_num_outputs - 1; i >= _max_number_of_nonzero_outputs; i--) {
if (outputs[i] != 0) {
if (fabsf(outputs[i]) > FLT_EPSILON) {
_max_number_of_nonzero_outputs = i + 1;
break;
}
@@ -187,7 +187,7 @@ public:
uint16_t payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_value_ARRAY_CAPACITY_];
for (uint8_t i = 0; i < _max_number_of_nonzero_outputs; i++) {
payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.0);
payload_buffer[i] = nunavutFloat16Pack(outputs[i] / 8192.f); // Output is float16 so this would benefit rescaling to e.g. [-1,1]
}
const CanardTransferMetadata transfer_metadata = {