Save mixer values to params when canned mixer is selected

[JMoore5353]

Motivation

This rosflight_ros_pkgs PR adds the functionality for other nodes to query rosflight_io for the current values of the firmware parameters.

Previously, the canned mixer types were not stored in the firmware's parameters, so rosflight_io had no idea what the correct mixer parameters were when a canned mixer was selected.

What I did:

• Added a save_secondary_mixer_params and save_primary_mixer_params methods to the firmware mixer. When a canned mixer is selected, it now inverts it like normal and then saves those values to the mixer parameters.

Note that this is consistent with how custom mixers are saved -- the "inverted" version is saved to the parameters, which is then directly multiplied by the force vector to get the desired outputs.

[Copilot]

Pull Request Overview

This PR updates the mixer functionality so that when a canned mixer is selected, its inverted values are also stored in the firmware parameters.

• Adds two new methods, save_primary_mixer_params() and save_secondary_mixer_params(), to persist mixer values.
• Calls these new methods appropriately in the mixer initialization process.

Reviewed Changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.

File	Description
src/mixer.cpp	Introduces new parameter saving functions and calls them in init_mixing() to store the mixer values.
include/mixer.h	Declares the new save_primary_mixer_params() and save_secondary_mixer_params() methods.

[Copilot]

[nitpick] Consider refactoring the similar parameter saving loops in save_primary_mixer_params() and save_secondary_mixer_params() into a helper function to reduce code duplication and potential maintenance issues.

Suggested change

	// This assumes the parameters are stored in order in the param enum
	int output_param_index = (int) PARAM_PRIMARY_MIXER_OUTPUT_0 + i;
	int pwm_rate_param_index = (int) PARAM_PRIMARY_MIXER_PWM_RATE_0 + i;
	RF_.params_.set_param_int(output_param_index, primary_mixer_.output_type[i]);
	RF_.params_.set_param_float(pwm_rate_param_index, primary_mixer_.default_pwm_rate[i]);
	}
	// Save the mixer values to the firmware parameters
	for (int i=0; i<NUM_MIXER_OUTPUTS; ++i) {
	// This assumes the parameters are stored in order in the param enum
	int param_index = (int) PARAM_PRIMARY_MIXER_0_0 + 6 * i;
	RF_.params_.set_param_float(param_index++, primary_mixer_.Fx[i]);
	RF_.params_.set_param_float(param_index++, primary_mixer_.Fy[i]);
	RF_.params_.set_param_float(param_index++, primary_mixer_.Fz[i]);
	RF_.params_.set_param_float(param_index++, primary_mixer_.Qx[i]);
	RF_.params_.set_param_float(param_index++, primary_mixer_.Qy[i]);
	RF_.params_.set_param_float(param_index, primary_mixer_.Qz[i]);
	}
	}
	void Mixer::save_secondary_mixer_params()
	{
	// Save the mixer values to the firmware parameters
	// The secondary mixer does not have header values (they are the same as the primary mixer)
	for (int i=0; i<NUM_MIXER_OUTPUTS; ++i) {
	// This assumes the parameters are stored in order in the param enum
	int param_index = (int) PARAM_SECONDARY_MIXER_0_0 + 6 * i;
	RF_.params_.set_param_float(param_index++, secondary_mixer_.Fx[i]);
	RF_.params_.set_param_float(param_index++, secondary_mixer_.Fy[i]);
	RF_.params_.set_param_float(param_index++, secondary_mixer_.Fz[i]);
	RF_.params_.set_param_float(param_index++, secondary_mixer_.Qx[i]);
	RF_.params_.set_param_float(param_index++, secondary_mixer_.Qy[i]);
	RF_.params_.set_param_float(param_index, secondary_mixer_.Qz[i]);
	int output_param_index = (int) PARAM_PRIMARY_MIXER_OUTPUT_0 + i;
	int pwm_rate_param_index = (int) PARAM_PRIMARY_MIXER_PWM_RATE_0 + i;
	RF_.params_.set_param_int(output_param_index, primary_mixer_.output_type[i]);
	RF_.params_.set_param_float(pwm_rate_param_index, primary_mixer_.default_pwm_rate[i]);
	}
	// Save the mixer values using the helper function
	save_mixer_params(primary_mixer_, PARAM_PRIMARY_MIXER_0_0);
	}
	void Mixer::save_secondary_mixer_params()
	{
	// Save the mixer values using the helper function
	save_mixer_params(secondary_mixer_, PARAM_SECONDARY_MIXER_0_0);
	}
	void Mixer::save_mixer_params(const mixer_t& mixer, int base_param_index)
	{
	for (int i=0; i<NUM_MIXER_OUTPUTS; ++i) {
	int param_index = base_param_index + 6 * i;
	RF_.params_.set_param_float(param_index++, mixer.Fx[i]);
	RF_.params_.set_param_float(param_index++, mixer.Fy[i]);
	RF_.params_.set_param_float(param_index++, mixer.Fz[i]);
	RF_.params_.set_param_float(param_index++, mixer.Qx[i]);
	RF_.params_.set_param_float(param_index++, mixer.Qy[i]);
	RF_.params_.set_param_float(param_index, mixer.Qz[i]);