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@JMoore5353
JMoore5353 committed Feb 20, 2024
1 parent af7b100 commit b1f286a
Showing 1 changed file with 37 additions and 41 deletions.
78 changes: 37 additions & 41 deletions include/mixer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -106,14 +106,13 @@ class Mixer : public ParamListenerInterface
void write_motor(uint8_t index, float value);
void write_servo(uint8_t index, float value);

const mixer_t esc_calibration_mixing = {
{M, M, M, M, M, M, NONE, NONE},

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
490};
const mixer_t esc_calibration_mixing = {{M, M, M, M, M, M, NONE, NONE},

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
490};

const mixer_t quadcopter_plus_mixing = {
{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
Expand All @@ -124,14 +123,13 @@ class Mixer : public ParamListenerInterface
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t quadcopter_x_mixing = {
{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
const mixer_t quadcopter_x_mixing = {{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};
{1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t hex_plus_mixing = {
{M, M, M, M, M, M, M, M}, // output_type
Expand Down Expand Up @@ -178,14 +176,13 @@ class Mixer : public ParamListenerInterface
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t X8_mixing = {
{M, M, M, M, M, M, M, M}, // output_type
const mixer_t X8_mixing = {{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // X Mix
{1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
490};
{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // X Mix
{1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
490};

const mixer_t tricopter_mixing = {
{M, M, M, S, NONE, NONE, NONE, NONE}, // output_type
Expand All @@ -196,32 +193,31 @@ class Mixer : public ParamListenerInterface
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t fixedwing_mixing = {
{S, S, M, S, S, M, NONE, NONE}, // output type
const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE}, // output type

{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};
{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t fixedwing_vtail_mixing = {
{M, S, S, S, S, S, S, S}, // output type - Motor | LAil | RAil | LRudVator | RRudVator | LAirBrake | RAirBrake | LandingGear
const mixer_t fixedwing_vtail_mixing = {
{M, S, S, S, S, S, S,
S}, // output type - Motor | LAil | RAil | LRudVator | RRudVator | LAirBrake | RAirBrake | LandingGear

{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Z Mix
{0.0f, 0.0f, 0.0f, 0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t custom_mixing = {
{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type
const mixer_t custom_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type

{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t * mixer_to_use_;

Expand Down

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