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delete lib/mixer and mixer_module static mixing

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This commit is contained in:
Daniel Agar
2022-08-24 16:50:02 -04:00
parent 0019ffbea6
commit a7bbcd5b04
79 changed files with 219 additions and 6835 deletions
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src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
+3 -92
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@@ -57,19 +57,12 @@ public:
private:
explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink)
{
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
_use_dynamic_mixing = sys_ctrl_alloc >= 1;
if (_use_dynamic_mixing) {
_act_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
}
_act_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
}
uORB::Subscription _act_sub{ORB_ID(actuator_outputs)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
bool _use_dynamic_mixing{false};
bool send() override
{
@@ -79,90 +72,8 @@ private:
mavlink_hil_actuator_controls_t msg{};
msg.time_usec = act.timestamp;
if (_use_dynamic_mixing) {
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
msg.controls[i] = act.output[i];
}
} else {
static constexpr float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_TAILSITTER_DUOROTOR ||
system_type == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR ||
system_type == MAV_TYPE_VTOL_FIXEDROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
n = 4;
break;
case MAV_TYPE_VTOL_FIXEDROTOR:
n = 8;
break;
default:
n = 8;
break;
}
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out 900..2100 us to -1..1 for other channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
/* send 0 when disarmed and for disabled channels */
msg.controls[i] = 0.0f;
}
}
} else {
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
}
} else {
/* set 0 for disabled channels */
msg.controls[i] = 0.0f;
}
}
}
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
msg.controls[i] = act.output[i];
}
// mode (MAV_MODE_FLAG)