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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/tap_esc/TAP_ESC.cpp
+12 -12
View File
@@ -243,7 +243,7 @@ void TAP_ESC::send_tune_packet(EscbusTunePacket &tune_packet)
tap_esc_common::send_packet(_uart_fd, buzzer_packet, -1);
}
bool TAP_ESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
bool TAP_ESC::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{
if (_initialized) {
@@ -252,26 +252,26 @@ bool TAP_ESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_output
// We need to remap from the system default to what PX4's normal scheme is
switch (num_outputs) {
case 4:
motor_out[0] = outputs[2];
motor_out[1] = outputs[1];
motor_out[2] = outputs[3];
motor_out[3] = outputs[0];
motor_out[0] = static_cast<uint16_t>(lroundf(outputs[2]));
motor_out[1] = static_cast<uint16_t>(lroundf(outputs[1]));
motor_out[2] = static_cast<uint16_t>(lroundf(outputs[3]));
motor_out[3] = static_cast<uint16_t>(lroundf(outputs[0]));
break;
case 6:
motor_out[0] = outputs[3];
motor_out[1] = outputs[0];
motor_out[2] = outputs[4];
motor_out[3] = outputs[2];
motor_out[4] = outputs[1];
motor_out[5] = outputs[5];
motor_out[0] = static_cast<uint16_t>(lroundf(outputs[3]));
motor_out[1] = static_cast<uint16_t>(lroundf(outputs[0]));
motor_out[2] = static_cast<uint16_t>(lroundf(outputs[4]));
motor_out[3] = static_cast<uint16_t>(lroundf(outputs[2]));
motor_out[4] = static_cast<uint16_t>(lroundf(outputs[1]));
motor_out[5] = static_cast<uint16_t>(lroundf(outputs[5]));
break;
default:
// Use the system defaults
for (uint8_t i = 0; i < num_outputs; ++i) {
motor_out[i] = outputs[i];
motor_out[i] = static_cast<uint16_t>(lroundf(outputs[i]));
}
break;
src/drivers/tap_esc/TAP_ESC.hpp
+1 -2
View File
@@ -101,8 +101,7 @@ public:
int init();
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;
private: