/**************************************************************************** * * 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.c * * Generic control value mixing library. * * This library implements a generic mixer function that can be used * by any driver or subsytem that wants to combine several control signals * into a single output. * * See mixer.h for more details. */ #include "mixer.h" static int scale_check(struct MixScaler *scale) { if (scale->offset > 1.0f) return -1; if (scale->offset > 1.0f) return -1; if (scale->lower_limit > scale->upper_limit) return -1; if (scale->lower_limit < -1.0f) return -1; if (scale->upper_limit > 1.0f) return -1; return 0; } int mixer_check(struct MixMixer *mixer, unsigned control_count) { if (mixer->control_count < 1) return -1; if (mixer->control_count > control_count) return -1; if (!scale_check(&mixer->output_scaler)) return -1; for (unsigned i = 0; i < mixer->control_count; i++) { if (mixer->control_scaler[i].control >= control_count) return -1; if (!scale_check(&mixer->control_scaler[i])) return -1; } return 0; } static float scale(struct MixScaler *scaler, float input) { float output; if (input < 0.0f) { output = (input * scaler->negative_scale) + scaler->offset; } else { output = (input * scaler->positive_scale) + scaler->offset; } if (output > scaler->upper_limit) { output = scaler->upper_limit; } else if (output < scaler->lower_limit) { output = scaler->lower_limit; } return output; } float mixer_mix(struct MixMixer *mixer, float *controls) { struct MixScaler *scaler; float sum = 0.0f; for (unsigned i = 0; i < mixer->control_count; i++) { scaler = &mixer->control_scaler[i]; sum += scale(scaler, controls[scaler->control]); } return scale(&mixer->output_scaler, sum); }