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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 13:43:16 -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
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@@ -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);