mixer: organize by type

src/drivers/px4io/px4io.cpp

@@ -71,7 +71,7 @@
 
 #include <lib/mathlib/mathlib.h>
 #include <lib/mixer/MixerGroup.hpp>
-#include <lib/mixer/MultirotorMixer.hpp>
+#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -48,7 +48,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/MultirotorMixer.hpp>
+#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
 #include <lib/mixer/MixerGroup.hpp>
 #include <lib/mixer/mixer_load.h>
 #include <lib/parameters/param.h>

src/lib/mixer/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2019 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
@@ -31,92 +31,26 @@
 #
 ############################################################################
 
-set(geometry_files
-	dodeca_bottom_cox.toml
-	dodeca_top_cox.toml
-	hex_cox.toml
-	hex_plus.toml
-	hex_t.toml
-	hex_x.toml
-	octa_cox.toml
-	octa_cox_wide.toml
-	octa_plus.toml
-	octa_x.toml
-	quad_deadcat.toml
-	quad_h.toml
-	quad_plus.toml
-	quad_s250aq.toml
-	quad_vtail.toml
-	quad_wide.toml
-	quad_x.toml
-	quad_x_pusher.toml
-	quad_y.toml
-	tri_y.toml
-	twin_engine.toml
-)
+# required by other mixers
+add_subdirectory(Mixer)
 
-set(geometries_list)
-foreach(geom_file ${geometry_files})
-	list(APPEND geometries_list ${CMAKE_CURRENT_SOURCE_DIR}/geometries/${geom_file})
-endforeach()
-
-set(MIXER_TOOLS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools)
-
-# generate mixers and normalize
-add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py -f ${geometries_list} -o mixer_multirotor.generated.h
-	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
-	)
-add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --normalize -f ${geometries_list} -o mixer_multirotor_normalized.generated.h
-	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
-	)
-add_custom_target(mixer_gen DEPENDS mixer_multirotor.generated.h ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h)
-
-# 6DOF mixers
-add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --sixdof -f ${geometries_list} -o mixer_multirotor_6dof.generated.h
-	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
-	)
-add_custom_target(mixer_gen_6dof DEPENDS mixer_multirotor_6dof.generated.h)
+add_subdirectory(HelicopterMixer)
+add_subdirectory(MultirotorMixer)
+add_subdirectory(NullMixer)
+add_subdirectory(SimpleMixer)
 
 add_library(mixer
-	HelicopterMixer.cpp
-	HelicopterMixer.hpp
-	Mixer.cpp
-	Mixer.hpp
 	MixerGroup.cpp
 	MixerGroup.hpp
-	MultirotorMixer.cpp
-	MultirotorMixer.hpp
-	NullMixer.cpp
-	NullMixer.hpp
-	SimpleMixer.cpp
-	SimpleMixer.hpp
-
 	load_mixer_file.cpp
+	mixer_load.h
 )
-target_include_directories(mixer PRIVATE ${PX4_BINARY_DIR}/src/lib/mixer)
 
-add_dependencies(mixer mixer_gen mixer_gen_6dof prebuild_targets)
-
-
-if(BUILD_TESTING)
-
-	add_executable(test_mixer_multirotor
-		test_mixer_multirotor.cpp
-		MultirotorMixer.cpp
-		Mixer.cpp
+target_link_libraries(mixer
+	PRIVATE
+		HelicopterMixer
+		MultirotorMixer
+		NullMixer
+		SimpleMixer
 	)
-	target_compile_definitions(test_mixer_multirotor PRIVATE MIXER_MULTIROTOR_USE_MOCK_GEOMETRY)
-	target_compile_options(test_mixer_multirotor PRIVATE -Wno-unused-result)
-
-	add_test(NAME mixer_multirotor
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/mixer_multirotor.py --test --mixer-multirotor-binary $<TARGET_FILE:test_mixer_multirotor>
-		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-	)
-
-endif()
+add_dependencies(mixer prebuild_targets)

src/lib/mixer/HelicopterMixer/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+add_library(HelicopterMixer
+	HelicopterMixer.cpp
+	HelicopterMixer.hpp
+)
+target_link_libraries(HelicopterMixer PRIVATE Mixer)
+add_dependencies(HelicopterMixer prebuild_targets)

src/lib/mixer/HelicopterMixer/HelicopterMixer.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "Mixer.hpp"
+#include <mixer/Mixer/Mixer.hpp>
 
 /** helicopter swash servo mixer */
 struct mixer_heli_servo_s {

src/lib/mixer/Mixer/CMakeLists.txt

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+add_library(Mixer
+	Mixer.cpp
+	Mixer.hpp
+)
+add_dependencies(Mixer prebuild_targets)

src/lib/mixer/MixerGroup.cpp

@@ -39,11 +39,10 @@
 
 #include "MixerGroup.hpp"
 
-#include "MixerGroup.hpp"
-#include "NullMixer.hpp"
-#include "SimpleMixer.hpp"
-#include "MultirotorMixer.hpp"
-#include "HelicopterMixer.hpp"
+#include "HelicopterMixer/HelicopterMixer.hpp"
+#include "MultirotorMixer/MultirotorMixer.hpp"
+#include "NullMixer/NullMixer.hpp"
+#include "SimpleMixer/SimpleMixer.hpp"
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)

src/lib/mixer/MixerGroup.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "Mixer.hpp"
+#include "Mixer/Mixer.hpp"
 
 /**
  * Group of mixers, built up from single mixers and processed

src/lib/mixer/MultirotorMixer/CMakeLists.txt

@@ -0,0 +1,113 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+set(geometry_files
+	dodeca_bottom_cox.toml
+	dodeca_top_cox.toml
+	hex_cox.toml
+	hex_plus.toml
+	hex_t.toml
+	hex_x.toml
+	octa_cox.toml
+	octa_cox_wide.toml
+	octa_plus.toml
+	octa_x.toml
+	quad_deadcat.toml
+	quad_h.toml
+	quad_plus.toml
+	quad_s250aq.toml
+	quad_vtail.toml
+	quad_wide.toml
+	quad_x.toml
+	quad_x_pusher.toml
+	quad_y.toml
+	tri_y.toml
+	twin_engine.toml
+)
+
+set(geometries_list)
+foreach(geom_file ${geometry_files})
+	list(APPEND geometries_list ${CMAKE_CURRENT_SOURCE_DIR}/geometries/${geom_file})
+endforeach()
+
+set(MIXER_TOOLS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools)
+
+# generate mixers and normalize
+add_custom_command(
+	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py -f ${geometries_list} -o mixer_multirotor.generated.h
+	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
+	)
+add_custom_command(
+	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --normalize -f ${geometries_list} -o mixer_multirotor_normalized.generated.h
+	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
+	)
+add_custom_target(mixer_gen DEPENDS mixer_multirotor.generated.h ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h)
+
+# 6DOF mixers
+add_custom_command(
+	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
+	COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --sixdof -f ${geometries_list} -o mixer_multirotor_6dof.generated.h
+	DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
+	)
+add_custom_target(mixer_gen_6dof DEPENDS mixer_multirotor_6dof.generated.h)
+
+add_library(MultirotorMixer
+	MultirotorMixer.cpp
+	MultirotorMixer.hpp
+
+	${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
+	${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
+	${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
+)
+target_link_libraries(MultirotorMixer PRIVATE Mixer)
+target_include_directories(MultirotorMixer PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+add_dependencies(MultirotorMixer mixer_gen mixer_gen_6dof prebuild_targets)
+
+if(BUILD_TESTING)
+
+	add_executable(test_mixer_multirotor
+		test_mixer_multirotor.cpp
+		MultirotorMixer.cpp
+	)
+	target_compile_definitions(test_mixer_multirotor PRIVATE MIXER_MULTIROTOR_USE_MOCK_GEOMETRY)
+	target_compile_options(test_mixer_multirotor PRIVATE -Wno-unused-result)
+	target_link_libraries(test_mixer_multirotor PRIVATE Mixer)
+
+	add_test(NAME mixer_multirotor
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/mixer_multirotor.py --test --mixer-multirotor-binary $<TARGET_FILE:test_mixer_multirotor>
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+
+endif()

src/lib/mixer/MultirotorMixer/MultirotorMixer.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "Mixer.hpp"
+#include <mixer/Mixer/Mixer.hpp>
 
 /**
  * Supported multirotor geometries.

src/lib/mixer/NullMixer/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+add_library(NullMixer
+	NullMixer.cpp
+	NullMixer.hpp
+)
+target_link_libraries(NullMixer PRIVATE Mixer)
+add_dependencies(NullMixer prebuild_targets)

src/lib/mixer/NullMixer/NullMixer.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "Mixer.hpp"
+#include <mixer/Mixer/Mixer.hpp>
 
 /**
  * Null mixer; returns zero.

src/lib/mixer/SimpleMixer/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 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.
+#
+############################################################################
+
+add_library(SimpleMixer
+	SimpleMixer.cpp
+	SimpleMixer.hpp
+)
+target_link_libraries(SimpleMixer PRIVATE Mixer)
+add_dependencies(SimpleMixer prebuild_targets)

src/lib/mixer/SimpleMixer/SimpleMixer.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "Mixer.hpp"
+#include <mixer/Mixer/Mixer.hpp>
 
 /** simple channel scaler */
 struct mixer_scaler_s {

src/lib/mixer_module/mixer_module.cpp

@@ -33,7 +33,7 @@
 
 #include "mixer_module.hpp"
 
-#include <lib/mixer/MultirotorMixer.hpp>
+#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
 
 #include <uORB/PublicationQueued.hpp>
 #include <px4_platform_common/log.h>

src/modules/mc_att_control/mc_att_control.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <lib/mixer/Mixer.hpp>
+#include <lib/mixer/Mixer/Mixer.hpp> // Airmode
 #include <matrix/matrix/math.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/px4_config.h>

src/modules/mc_rate_control/RateControl/RateControl.hpp

@@ -42,7 +42,7 @@
 #include <matrix/matrix/math.hpp>
 #include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
 
-#include <lib/mixer/MultirotorMixer.hpp>
+#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
 #include <uORB/topics/rate_ctrl_status.h>
 
 class RateControl

src/systemcmds/mixer/mixer.cpp

@@ -49,7 +49,7 @@
 #include <ctype.h>
 
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/Mixer.hpp>
+#include <lib/mixer/MixerGroup.hpp>
 #include <lib/mixer/mixer_load.h>
 #include <uORB/topics/actuator_controls.h>