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More work on the mixer architecture.

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Solve the multiple publishers issue with 'control groups', one group per controller.  Mixer inputs now specify both group and control offset within the group.

Avoid using %f when loading/saving mixers; use scaled integers instead.
This commit is contained in:
px4dev
2012-08-05 14:13:34 -07:00
parent 9804776a0c
commit 9804447a66
7 changed files with 274 additions and 103 deletions
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apps/uORB/objects_common.cpp
+7 -2
View File
@@ -32,7 +32,9 @@
****************************************************************************/
/**
* @file Common object definitions without a better home.
* @file objects_common.h
*
* Common object definitions without a better home.
*/
#include <nuttx/config.h>
@@ -101,5 +103,8 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_s);
#include "topics/actuator_controls.h"
ORB_DEFINE(actuator_controls, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
apps/uORB/topics/actuator_controls.h
+19 -8
View File
@@ -32,11 +32,15 @@
****************************************************************************/
/**
* @file Actuator control topic - mixer inputs.
* @file actuator_controls.h
*
* Values published to this topic are the outputs of the vehicle control
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system, and are expected to be mixed and used to drive the actuators
* (servos, speed controls, etc.) that operate the vehicle.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_CONTROLS_H
@@ -45,17 +49,24 @@
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATOR_CONTROLS 16
#define NUM_ACTUATOR_CONTROLS 8
#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
struct actuator_controls_s
{
struct actuator_controls_s {
float control[NUM_ACTUATOR_CONTROLS];
};
ORB_DECLARE(actuator_controls);
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_0);
ORB_DECLARE(actuator_controls_1);
ORB_DECLARE(actuator_controls_2);
ORB_DECLARE(actuator_controls_3);
struct actuator_armed_s
{
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
/** global 'actuator output is live' control. */
struct actuator_armed_s {
bool armed;
};