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mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header

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This commit is contained in:
Daniel Agar
2019-11-20 21:26:43 -05:00
parent 011186b8a5
commit 79dc676c8f
36 changed files with 233 additions and 352 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+1 -1
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@@ -33,7 +33,7 @@
#pragma once
#include <lib/mixer/mixer.h>
#include <lib/mixer/Mixer.hpp>
#include <matrix/matrix/math.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
src/modules/mc_rate_control/MulticopterRateControl.hpp
-1
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@@ -37,7 +37,6 @@
#include <lib/mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/mixer/mixer.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
src/modules/mc_rate_control/RateControl/RateControl.hpp
+1 -1
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@@ -42,7 +42,7 @@
#include <matrix/matrix/math.hpp>
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MultirotorMixer.hpp>
#include <uORB/topics/rate_ctrl_status.h>
class RateControl
src/modules/px4iofirmware/mixer.cpp
+4 -4
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@@ -51,7 +51,7 @@
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <output_limit/output_limit.h>
#include <rc/sbus.h>
@@ -96,7 +96,7 @@ static volatile mixer_source source;
static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control);
static int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits);
static MixerGroup mixer_group(mixer_callback, 0);
static MixerGroup mixer_group;
int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
{
@@ -114,7 +114,7 @@ int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
}
void
mixer_tick(void)
mixer_tick()
{
/* check if the mixer got modified */
mixer_handle_text_create_mixer();
@@ -540,7 +540,7 @@ mixer_handle_text_create_mixer()
/* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
mixer_group.load_from_buf(mixer_callback, 0, &mixer_text[0], resid);
/* if anything was parsed */
if (resid != mixer_text_length) {