forked from Archive/PX4-Autopilot
82 lines
3.1 KiB
C
82 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: Nils Wenzler <wenzlern@ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file Mixing / linking of RC channels
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdint.h>
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#include "mix_and_link.h"
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/*
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* Library function that mixes the abstract functions like ROLL, PITCH, THROTTLE
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* to one or several actuators.
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* @param *mixers is a pointer to the configuration struct, declared in mix_and_link.h
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* @param nr_mixers is a integer that denotes the number of mixers that should be processed
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* @param nr_actuators is a integer that denotes the max number of actuators that get linked to one source
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* @param *data is a pointer to the mixer data struct, declared in mix_and_link.h
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*/
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void mix_and_link(const mixer_conf_t *mixers, uint8_t nr_mixers, uint8_t nr_actuators, mixer_data_t *data)
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{
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/* Reset the Output Array */
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uint8_t i, j;
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for (i = 0; i < nr_actuators; i++) {
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data->output[i] = 0;
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}
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/* Loop throug the given mixers */
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for (i = 0; i < nr_mixers; i++) {
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/* The actual mixing */
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for (j = 0; j < mixers[i].nr_actuators; j++) {
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data->output[mixers[i].dest[j]] += (int16_t)(data->input[mixers[i].source]
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* mixers[i].dual_rate[j]);
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/* Saturate to +-10000 */
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if (data->output[mixers[i].dest[j]] > 10000)
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data->output[mixers[i].dest[j]] = 10000;
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else if (data->output[mixers[i].dest[j]] < -10000)
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data->output[mixers[i].dest[j]] = -10000;
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}
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}
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}
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