本文整理汇总了C++中MixerGroup::set_trims方法的典型用法代码示例。如果您正苦于以下问题：C++ MixerGroup::set_trims方法的具体用法？C++ MixerGroup::set_trims怎么用？C++ MixerGroup::set_trims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_trims方法的1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: if
//.........这里部分代码省略.........
*/
if ( /* if we have requested flight termination style failsafe (noreturn) */
(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) &&
/* and we ended up in a failsafe condition */
(source == MIX_FAILSAFE) &&
/* and we should be armed, so we intended to provide outputs */
should_arm &&
/* and FMU is initialized */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) {
r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
/*
* Check if we should force failsafe - and do it if we have to
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
source = MIX_FAILSAFE;
}
/*
* Set failsafe status flag depending on mixing source
*/
if (source == MIX_FAILSAFE) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE;
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE);
}
/*
* 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 */