Code

432 new mixing system#438

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JMoore5353 merged 51 commits intomainrosflight/rosflight_firmware:mainfrom 432-new-mixing-systemrosflight/rosflight_firmware:432-new-mixing-systemCopy head branch name to clipboardJan 22, 2025

+1,502-434

Commits

Commits on Aug 5, 2024

• Adds option to use mixer based on motor positions and motor parameters.

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• Adds option to use mixer based on motor positions and motor parameters.

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• Merge branch '432-new-mixing-system' of github.com:rosflight/rosflight_firmware into 432-new-mixing-system

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Commits on Aug 8, 2024

• changed controller to output forces and torques

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• added parameters for the new mixing matrix calculations

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• Added custom mixer that uses Ch. 14 mixer equations. Also uses Ch. 4 and 14 equations to calculate the max thrust given a throttle setting (since RC commands come in as throttle settings, not forces).

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Commits on Aug 12, 2024

• added maximum throttle param from RC controller to maintain controllability under aggressive maneuvers

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Commits on Aug 14, 2024

• Scales thrust commands by RC_MAX_THROTTLE to maintain controllability

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• Computes the mixing matrix using the SVD, which doesn't dynamically allocate memory.

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• fixing code style

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• return type qualifier fix

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Commits on Aug 15, 2024

• added libeigen3-dev to workflow runs

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• Added Eigen dependency to all boards.

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• Moved Eigen package to common/CMakeLists.txt

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• Added hardcoded, precomputed mixing matrices for standard aircraft

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• fixed include error

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• Added find eigen call back

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Commits on Aug 27, 2024

• Moved Eigen dependency back to the rosflight_firmware CMakeLists.txt

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Commits on Oct 9, 2024

• removed the quadplane mixing matrix to avoid confusion since it doesn't work in the current implementation

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Commits on Oct 14, 2024

• added flag to switch between fixedwing mixing and multirotor mixing.

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• default F behavior for fixedwings is passthrough to mixer instead of calculating max thrust

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Commits on Oct 15, 2024

• refactored some names and got rid of unused dependencies

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• changed the mixer pwm outputs to be compatible with Varmint and Pixracer Pro PWM output groups

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Commits on Oct 29, 2024

• recomputed canned mixers and added mixer parameters to the firmware

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• removed unused parameters and fixed mixing matrix paramter names

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Commits on Nov 7, 2024

• Update the input forces to include Fx and Fy

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• added mixer header values to the parameter list

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Commits on Nov 11, 2024

• fixed Fz for the canned mixers, since we are in NED frame

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• changed mixer indices for clarity and fixed some bugs when using custom mixer

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• fixed aux channels not getting initialized. Changed the way servos are mixed with multirotor

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Commits on Nov 12, 2024

• Added parameter to choose which axis the RC throttle corresponds to

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Commits on Nov 26, 2024

• added support for secondary mixer

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• some updates to the unit tests

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Commits on Dec 6, 2024

• minor code cleanup

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Commits on Dec 11, 2024

• added descriptions to some parameters

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Commits on Dec 16, 2024

• changed eigen dependency to be fetch content so it is more platform independent

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• removed iostream dependency and dead function calls

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Commits on Dec 17, 2024

• removed air density as a parameter. Using ideal gas law

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• renamed NONE to AUX since it is only used for AUX channels

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• added error checking for RC F axis selection

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• reworked the way mixers were assigned to use the enums instead of the array of pointers

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• replaced the load parameter methods with a loop

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Commits on Dec 31, 2024

• eigen now a git submodule

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• fixed the calculation for air density

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• Merge branch 'main' into 432-new-mixing-system

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Commits on Jan 10, 2025

• changed the array_of_mixers to use pointers to reduce storage

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• removed custom mixer from list since it is not used

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Commits on Jan 11, 2025

• changed how rc throttle override works and updated unit tests

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Commits on Jan 13, 2025

• updated cmake to suppress compiler warnings for 3rd party eigen code

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• updated version for mavlink library to main

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Commits on Jan 22, 2025

• removed eigen from other github workflows

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