diff options
Diffstat (limited to 'apps/systemlib/mixer/mixer.h')
| -rw-r--r-- | apps/systemlib/mixer/mixer.h | 64 |
1 files changed, 42 insertions, 22 deletions
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h index 95b576d41..26ba5db7e 100644 --- a/apps/systemlib/mixer/mixer.h +++ b/apps/systemlib/mixer/mixer.h @@ -243,34 +243,34 @@ public: * * Mixer definitions begin with a single capital letter and a colon. * The actual format of the mixer definition varies with the individual - * mixers; they are summarised here, but see ROMFS/mixers/README for + * mixers; they are summarised here, but see ROMFS/mixers/README for * more details. * * Null Mixer * .......... - * + * * The null mixer definition has the form: - * + * * Z: - * + * * Simple Mixer * ............ - * + * * A simple mixer definition begins with: - * + * * M: <control count> * O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> - * + * * The definition continues with <control count> entries describing the control * inputs and their scaling, in the form: - * + * * S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> - * + * * Multirotor Mixer * ................ - * + * * The multirotor mixer definition is a single line of the form: - * + * * R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> * * @param buf The mixer configuration buffer. @@ -335,7 +335,7 @@ public: ~SimpleMixer(); /** - * Factory method. + * Factory method with full external configuration. * * Given a pointer to a buffer containing a text description of the mixer, * returns a pointer to a new instance of the mixer. @@ -351,9 +351,29 @@ public: * if the text format is bad. */ static SimpleMixer *from_text(Mixer::ControlCallback control_cb, - uintptr_t cb_handle, - const char *buf, - unsigned &buflen); + uintptr_t cb_handle, + const char *buf, + unsigned &buflen); + + /** + * Factory method for PWM/PPM input to internal float representation. + * + * @param control_cb The callback to invoke when fetching a + * control value. + * @param cb_handle Handle passed to the control callback. + * @param input The control index used when fetching the input. + * @param min The PWM/PPM value considered to be "minimum" (gives -1.0 out) + * @param mid The PWM/PPM value considered to be the midpoint (gives 0.0 out) + * @param max The PWM/PPM value considered to be "maximum" (gives 1.0 out) + * @return A new SimpleMixer instance, or nullptr if one could not be + * allocated. + */ + static SimpleMixer *pwm_input(Mixer::ControlCallback *control_cb, + uintptr_t cb_handle, + unsigned input, + uint16_t min, + uint16_t mid, + uint16_t max); virtual unsigned mix(float *outputs, unsigned space); virtual void groups_required(uint32_t &groups); @@ -375,10 +395,10 @@ private: static int parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler); static int parse_control_scaler(const char *buf, - unsigned &buflen, - mixer_scaler_s &scaler, - uint8_t &control_group, - uint8_t &control_index); + unsigned &buflen, + mixer_scaler_s &scaler, + uint8_t &control_group, + uint8_t &control_index); }; /** @@ -457,9 +477,9 @@ public: * if the text format is bad. */ static MultirotorMixer *from_text(Mixer::ControlCallback control_cb, - uintptr_t cb_handle, - const char *buf, - unsigned &buflen); + uintptr_t cb_handle, + const char *buf, + unsigned &buflen); virtual unsigned mix(float *outputs, unsigned space); virtual void groups_required(uint32_t &groups); |