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Diffstat (limited to 'apps/systemlib/mixer/mixer_multirotor.cpp')
-rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp new file mode 100644 index 000000000..713b1e25d --- /dev/null +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mixer_multirotor.cpp + * + * Multi-rotor mixers. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include "mixer.h" + +MultirotorMixer::MultirotorMixer(ControlCallback control_cb, + uintptr_t cb_handle, + MultirotorMixer::Geometry geom) : + Mixer(control_cb, cb_handle), + _geometry(geom) +{ +} + +MultirotorMixer::~MultirotorMixer() +{ +} + +unsigned +MultirotorMixer::mix(float *outputs, unsigned space) +{ + /* XXX implement this */ + return 0; +} + +void +MultirotorMixer::groups_required(uint32_t &groups) +{ + /* XXX for now, hardcoded to indexes 0-3 in control group zero */ + groups |= (1 << 0); +} + |