本文整理汇总了C++中MixerGroup::set_max_delta_out_once方法的典型用法代码示例。如果您正苦于以下问题：C++ MixerGroup::set_max_delta_out_once方法的具体用法？C++ MixerGroup::set_max_delta_out_once怎么用？C++ MixerGroup::set_max_delta_out_once使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类MixerGroup的用法示例。
在下文中一共展示了MixerGroup::set_max_delta_out_once方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
void
mixer_set_failsafe()
{
/*
* Check if a custom failsafe value has been written,
* or if the mixer is not ok and bail out.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
return;
}
/* set failsafe defaults to the values for all inputs = 0 */
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
if (REG_TO_FLOAT(r_setup_slew_max) > FLT_EPSILON) {
// maximum value the ouputs of the multirotor mixer are allowed to change in this cycle
// factor 2 is needed because actuator ouputs are in the range [-1,1]
float delta_out_max = 2.0f * 1000.0f * dt / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* update parameter for mc thrust model if it updated */
if (update_mc_thrust_param) {
mixer_group.set_thrust_factor(REG_TO_FLOAT(r_setup_thr_fac));
update_mc_thrust_param = false;
}
/* mix */
mixed = mixer_mix_threadsafe(&outputs[0], &r_mixer_limits);
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
/* scale to servo output */
r_page_servo_failsafe[i] = (outputs[i] * 600.0f) + 1500;
}
/* disable the rest of the outputs */
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) {
r_page_servo_failsafe[i] = 0;
}
}示例2: if
//.........这里部分代码省略.........
/*
* Set simple mixer trim values
* (there should be a "dirty" flag to indicate that r_page_servo_control_trim has changed)
*/
mixer_group.set_trims(r_page_servo_control_trim, PX4IO_SERVO_COUNT);
/*
* Run the mixers.
*/
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f);
}
} else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)
&& !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
if (REG_TO_FLOAT(r_setup_slew_max) > FLT_EPSILON) {
// maximum value the ouputs of the multirotor mixer are allowed to change in this cycle
// factor 2 is needed because actuator ouputs are in the range [-1,1]
float delta_out_max = 2.0f * 1000.0f * dt / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* mix */
/* update parameter for mc thrust model if it updated */
if (update_mc_thrust_param) {
mixer_group.set_thrust_factor(REG_TO_FLOAT(r_setup_thr_fac));
update_mc_thrust_param = false;
}
/* mix */
mixed = mixer_mix_threadsafe(&outputs[0], &r_mixer_limits);
/* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, should_arm_nothrottle, mixed, r_setup_pwm_reverse, r_page_servo_disarmed,
r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
/* clamp unused outputs to zero */
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = 0;
outputs[i] = 0.0f;
}
/* store normalized outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
}
}
/* set arming */
bool needs_to_arm = (should_arm || should_arm_nothrottle || should_always_enable_pwm);
/* lockdown means to send a valid pulse which disables the outputs */