mixer.h File Reference

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Data Structures
struct	motor_3d_config
	3d mode mixer settings (used when mixer_enable_3d_mode is called with true) More...
struct	pwm_output_config
struct	servo_config
	Configuration for each servo which is editable by the user. More...
struct	servo_profile
struct	mixer_rule_def
	mixer rule definition in new format More...
struct	mixer_config
	general mixer settings More...

Macros
#define	MAX_SUPPORTED_MOTORS   12
#define	MAX_SUPPORTED_SERVOS   8
#define	MAX_SERVO_RULES   (2 * MAX_SUPPORTED_SERVOS)
#define	MAX_SERVO_SPEED   UINT8_MAX
#define	MAX_SERVO_BOXES   3
#define	DEFAULT_SERVO_MIN   1000
#define	DEFAULT_SERVO_MIDDLE   1500
#define	DEFAULT_SERVO_MAX   2000
#define	DEFAULT_SERVO_MIN_ANGLE   45
#define	DEFAULT_SERVO_MAX_ANGLE   45
#define	CHANNEL_FORWARDING_DISABLED   (uint8_t)0xff
#define	MIXER_MAX_RULES   48

Enumerations
enum	mixer_input_t {   MIXER_INPUT_GROUP_FC = 0, MIXER_INPUT_G0_ROLL = 0, MIXER_INPUT_G0_PITCH, MIXER_INPUT_G0_YAW,   MIXER_INPUT_G0_THROTTLE, MIXER_INPUT_G0_TILT_PITCH, MIXER_INPUT_G0_SPOILERS, MIXER_INPUT_G0_AIRBREAKS,   MIXER_INPUT_G0_LANDINGGEAR, MIXER_INPUT_GROUP_1 = (1 << 3), MIXER_INPUT_G1_ROLL = MIXER_INPUT_GROUP_1, MIXER_INPUT_G1_PITCH,   MIXER_INPUT_G1_YAW, MIXER_INPUT_GROUP_GIMBAL = (2 << 3), MIXER_INPUT_G2_GIMBAL_ROLL = MIXER_INPUT_GROUP_GIMBAL, MIXER_INPUT_G2_GIMBAL_PITCH,   MIXER_INPUT_G2_GIMBAL_YAW, MIXER_INPUT_G2_GIMBAL_SHUTTER, MIXER_INPUT_GROUP_RC = (3 << 3), MIXER_INPUT_G3_RC_ROLL = MIXER_INPUT_GROUP_RC,   MIXER_INPUT_G3_RC_PITCH, MIXER_INPUT_G3_RC_YAW, MIXER_INPUT_G3_RC_THROTTLE, MIXER_INPUT_G3_RC_MODE,   MIXER_INPUT_G3_RC_AUX1, MIXER_INPUT_G3_RC_AUX2, MIXER_INPUT_G3_RC_AUX3, MIXER_INPUT_GROUP_MOTOR_PASSTHROUGH = (4 << 3),   MIXER_INPUT_G4_M1 = MIXER_INPUT_GROUP_MOTOR_PASSTHROUGH, MIXER_INPUT_G4_M2, MIXER_INPUT_G4_M3, MIXER_INPUT_G4_M4,   MIXER_INPUT_G4_M5, MIXER_INPUT_G4_M6, MIXER_INPUT_G4_M7, MIXER_INPUT_G4_M8,   MIXER_INPUT_COUNT }
enum	mixer_output_t {   MIXER_OUTPUT_MOTORS = 0, MIXER_OUTPUT_M1 = MIXER_OUTPUT_MOTORS, MIXER_OUTPUT_M2, MIXER_OUTPUT_M3,   MIXER_OUTPUT_M4, MIXER_OUTPUT_M5, MIXER_OUTPUT_M6, MIXER_OUTPUT_M7,   MIXER_OUTPUT_M8, MIXER_MAX_MOTORS = MIXER_OUTPUT_M8 - MIXER_OUTPUT_MOTORS + 1, MIXER_OUTPUT_SERVOS = MIXER_OUTPUT_M8 + 1, MIXER_OUTPUT_S1 = MIXER_OUTPUT_SERVOS,   MIXER_OUTPUT_S2, MIXER_OUTPUT_S3, MIXER_OUTPUT_S4, MIXER_OUTPUT_S5,   MIXER_OUTPUT_S6, MIXER_OUTPUT_S7, MIXER_OUTPUT_S8, MIXER_MAX_SERVOS = MIXER_OUTPUT_S8 - MIXER_OUTPUT_SERVOS + 1,   MIXER_OUTPUT_COUNT = MIXER_OUTPUT_S8 + 1 }
	Mixer output channels. More...
enum	mixer_mode_t {   MIXER_TRI = 1, MIXER_QUADP = 2, MIXER_QUADX = 3, MIXER_BICOPTER = 4,   MIXER_GIMBAL = 5, MIXER_Y6 = 6, MIXER_HEX6 = 7, MIXER_FLYING_WING = 8,   MIXER_Y4 = 9, MIXER_HEX6X = 10, MIXER_OCTOX8 = 11, MIXER_OCTOFLATP = 12,   MIXER_OCTOFLATX = 13, MIXER_AIRPLANE = 14, MIXER_HELI_120_CCPM = 15, MIXER_HELI_90_DEG = 16,   MIXER_VTAIL4 = 17, MIXER_HEX6H = 18, MIXER_PPM_TO_SERVO = 19, MIXER_DUALCOPTER = 20,   MIXER_SINGLECOPTER = 21, MIXER_ATAIL4 = 22, MIXER_QUADX_TILT1 = 23, MIXER_QUADX_TILT2 = 24,   MIXER_CUSTOM, MIXER_CUSTOM_AIRPLANE, MIXER_CUSTOM_TRI, MIXER_MODE_COUNT }
	sets mixer frame configuration More...

Functions
struct motor_3d_config	__attribute__ ((packed))
struct servo_config	__attribute__ ((__packed__))

Variables
typedef	__attribute__
uint16_t	deadband3d_low
uint16_t	deadband3d_high
uint16_t	neutral3d
uint16_t	minthrottle
uint16_t	maxthrottle
uint16_t	mincommand
uint16_t	servoCenterPulse
uint16_t	motor_pwm_rate
uint16_t	servo_pwm_rate
int16_t	min
	Minimum pwm value that is sent to the servo. More...
int16_t	max
	Maximum pwm value that is sent to the servo. More...
int16_t	middle
	PWM value that is sent to center the servo (usually 1500) More...
int8_t	rate
	range [-125;+125] ; can be used to adjust a rate 0-125% and a direction More...
uint8_t	angleAtMin
	range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value. More...
uint8_t	angleAtMax
	range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value. More...
int8_t	forwardFromChannel
	RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED. More...
uint32_t	reversedSources
	the direction of servo movement for each input source of the servo mixer, bit set=inverted More...
struct servo_config	servoConf [MAX_SUPPORTED_SERVOS]
uint8_t	output
uint8_t	input
int16_t	scale
uint8_t	mixerMode
	one of the mixer_mode_t values More...
uint8_t	pid_at_min_throttle
	when enabled pids are used at minimum throttle (valid values 0 or 1) More...
int8_t	yaw_motor_direction
	allows reversing yaw direction (values -1 or 1) More...
uint16_t	yaw_jump_prevention_limit
	make limit configurable (original fixed value was 100) More...
uint8_t	tri_unarmed_servo
	send tail servo correction pulses even when unarmed More...
float	servo_lowpass_freq
	lowpass servo filter frequency selection; 1/1000ths of loop freq More...
int8_t	servo_lowpass_enable
	enable/disable lowpass filter for servo output More...
struct mixer_rule_def	custom_rules [MIXER_MAX_RULES]

Macro Definition Documentation

#define CHANNEL_FORWARDING_DISABLED   (uint8_t)0xff

#define DEFAULT_SERVO_MAX   2000

#define DEFAULT_SERVO_MAX_ANGLE   45

#define DEFAULT_SERVO_MIDDLE   1500

#define DEFAULT_SERVO_MIN   1000

#define DEFAULT_SERVO_MIN_ANGLE   45

#define MAX_SERVO_BOXES   3

#define MAX_SERVO_RULES   (2 * MAX_SUPPORTED_SERVOS)

#define MAX_SERVO_SPEED   UINT8_MAX

#define MAX_SUPPORTED_MOTORS   12

#define MAX_SUPPORTED_SERVOS   8

#define MIXER_MAX_RULES   48

Enumeration Type Documentation

enum mixer_input_t

Mixer input commands that command the mixer to either spin or translate the frame in specific direction. All movement is in body frame and movements that are not physically supported by the frame will be ignored.

Enumerator
MIXER_INPUT_GROUP_FC
MIXER_INPUT_G0_ROLL	flight control angular rate for x axis
MIXER_INPUT_G0_PITCH	flight control angular rate for y axis
MIXER_INPUT_G0_YAW	flight control angular rate for z axis
MIXER_INPUT_G0_THROTTLE	flight control throttle
MIXER_INPUT_G0_TILT_PITCH	flight control tilt pitch
MIXER_INPUT_G0_SPOILERS	flight control spoilers
MIXER_INPUT_G0_AIRBREAKS	flight control airbreaks
MIXER_INPUT_G0_LANDINGGEAR	flight control landing gear
MIXER_INPUT_GROUP_1
MIXER_INPUT_G1_ROLL
MIXER_INPUT_G1_PITCH
MIXER_INPUT_G1_YAW
MIXER_INPUT_GROUP_GIMBAL
MIXER_INPUT_G2_GIMBAL_ROLL	gimbal roll
MIXER_INPUT_G2_GIMBAL_PITCH	gimbal pitch
MIXER_INPUT_G2_GIMBAL_YAW	gimbal yaw
MIXER_INPUT_G2_GIMBAL_SHUTTER	gimbal shutter
MIXER_INPUT_GROUP_RC
MIXER_INPUT_G3_RC_ROLL	rc roll input
MIXER_INPUT_G3_RC_PITCH
MIXER_INPUT_G3_RC_YAW
MIXER_INPUT_G3_RC_THROTTLE
MIXER_INPUT_G3_RC_MODE
MIXER_INPUT_G3_RC_AUX1
MIXER_INPUT_G3_RC_AUX2
MIXER_INPUT_G3_RC_AUX3
MIXER_INPUT_GROUP_MOTOR_PASSTHROUGH
MIXER_INPUT_G4_M1
MIXER_INPUT_G4_M2
MIXER_INPUT_G4_M3
MIXER_INPUT_G4_M4
MIXER_INPUT_G4_M5
MIXER_INPUT_G4_M6
MIXER_INPUT_G4_M7
MIXER_INPUT_G4_M8
MIXER_INPUT_COUNT

enum mixer_mode_t

sets mixer frame configuration

Enumerator
MIXER_TRI
MIXER_QUADP
MIXER_QUADX
MIXER_BICOPTER
MIXER_GIMBAL
MIXER_Y6
MIXER_HEX6
MIXER_FLYING_WING
MIXER_Y4
MIXER_HEX6X
MIXER_OCTOX8
MIXER_OCTOFLATP
MIXER_OCTOFLATX
MIXER_AIRPLANE
MIXER_HELI_120_CCPM
MIXER_HELI_90_DEG
MIXER_VTAIL4
MIXER_HEX6H
MIXER_PPM_TO_SERVO
MIXER_DUALCOPTER
MIXER_SINGLECOPTER
MIXER_ATAIL4
MIXER_QUADX_TILT1
MIXER_QUADX_TILT2
MIXER_CUSTOM
MIXER_CUSTOM_AIRPLANE
MIXER_CUSTOM_TRI
MIXER_MODE_COUNT

enum mixer_output_t

Mixer output channels.

Enumerator
MIXER_OUTPUT_MOTORS
MIXER_OUTPUT_M1
MIXER_OUTPUT_M2
MIXER_OUTPUT_M3
MIXER_OUTPUT_M4
MIXER_OUTPUT_M5
MIXER_OUTPUT_M6
MIXER_OUTPUT_M7
MIXER_OUTPUT_M8
MIXER_MAX_MOTORS
MIXER_OUTPUT_SERVOS
MIXER_OUTPUT_S1
MIXER_OUTPUT_S2
MIXER_OUTPUT_S3
MIXER_OUTPUT_S4
MIXER_OUTPUT_S5
MIXER_OUTPUT_S6
MIXER_OUTPUT_S7
MIXER_OUTPUT_S8
MIXER_MAX_SERVOS
MIXER_OUTPUT_COUNT

Function Documentation

struct motor_3d_config __attribute__

(

(packed)

)

struct servo_config __attribute__

(

(__packed__)

)

Variable Documentation

typedef __attribute__

uint8_t angleAtMax

range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.

uint8_t angleAtMin

range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.

struct mixer_rule_def custom_rules[MIXER_MAX_RULES]

uint16_t deadband3d_high

uint16_t deadband3d_low

int8_t forwardFromChannel

RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED.

uint8_t input

int16_t max

Maximum pwm value that is sent to the servo.

uint16_t maxthrottle

int16_t middle

PWM value that is sent to center the servo (usually 1500)

int16_t min

Minimum pwm value that is sent to the servo.

uint16_t mincommand

uint16_t minthrottle

uint8_t mixerMode

one of the mixer_mode_t values

uint16_t motor_pwm_rate

uint16_t neutral3d

uint8_t output

uint8_t pid_at_min_throttle

when enabled pids are used at minimum throttle (valid values 0 or 1)

int8_t rate

range [-125;+125] ; can be used to adjust a rate 0-125% and a direction

uint32_t reversedSources

the direction of servo movement for each input source of the servo mixer, bit set=inverted

int16_t scale

int8_t servo_lowpass_enable

enable/disable lowpass filter for servo output

float servo_lowpass_freq

lowpass servo filter frequency selection; 1/1000ths of loop freq

uint16_t servo_pwm_rate

uint16_t servoCenterPulse

struct servo_config servoConf[MAX_SUPPORTED_SERVOS]

uint8_t tri_unarmed_servo

send tail servo correction pulses even when unarmed

uint16_t yaw_jump_prevention_limit

make limit configurable (original fixed value was 100)

int8_t yaw_motor_direction

allows reversing yaw direction (values -1 or 1)