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Merged
JMoore5353 merged 4 commits into from
Aug 4, 2025
Merged

Ptt/mixer mod #457

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d5c054e
faster Mixer::param_change_callback
avtoku Jul 25, 2025
1890067
Add updating secondary mixer paramters if following primary mixer
avtoku Jul 31, 2025
896de93
Update secondary mixer output type and rate to match the primary
avtoku Aug 4, 2025
ef9789b
cleanup: typo in variable name
JMoore5353 Aug 4, 2025
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69 changes: 51 additions & 18 deletions src/mixer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,35 +56,67 @@ void Mixer::init()

void Mixer::param_change_callback(uint16_t param_id)
{
// Follows parameter ordered in mixer.h

if ((param_id >=PARAM_PRIMARY_MIXER_OUTPUT_0 )&&(param_id <=PARAM_PRIMARY_MIXER_5_9 )) {
load_primary_mixer_values();
if ((param_id >=PARAM_PRIMARY_MIXER_OUTPUT_0 )&&(param_id <=PARAM_PRIMARY_MIXER_OUTPUT_9 )) {
primary_mixer_.output_type[param_id-PARAM_PRIMARY_MIXER_OUTPUT_0] = (output_type_t) RF_.params_.get_param_int(param_id);
// Note: secondary mixer output types are not used, but should match the primary mixer in case code elsewhere changes.
secondary_mixer_.output_type[param_id-PARAM_PRIMARY_MIXER_OUTPUT_0] = (output_type_t) RF_.params_.get_param_int(param_id);

// Check to see if the secondary mixer needs to be updated.
// Without a call to init_mixing, the primary and secondary mixer parameters can get out of sync, if
// the PARAM_SECONDARY_MIXER is set to an invalid mixer (and thus is defaulting to primary mixer).
} else if ((param_id >=PARAM_PRIMARY_MIXER_PWM_RATE_0 )&&(param_id <=PARAM_PRIMARY_MIXER_PWM_RATE_9 )) {
primary_mixer_.default_pwm_rate[param_id-PARAM_PRIMARY_MIXER_PWM_RATE_0] = RF_.params_.get_param_float(param_id);
// Note: secondary micer pwm rates are not used, but should match the primary mixer in case code elsewhere changes.
secondary_mixer_.default_pwm_rate[param_id-PARAM_PRIMARY_MIXER_PWM_RATE_0] = RF_.params_.get_param_float(param_id);

} else if ((param_id >=PARAM_PRIMARY_MIXER_0_0 )&&(param_id <=PARAM_PRIMARY_MIXER_5_9 )) {

uint16_t param_id_offset = param_id-PARAM_PRIMARY_MIXER_0_0;
uint16_t param_id_row = param_id_offset%6;
uint16_t param_id_col = param_id_offset/6;

if(param_id_row==0) { primary_mixer_.Fx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==1) { primary_mixer_.Fy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==2) { primary_mixer_.Fz[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==3) { primary_mixer_.Qx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==4) { primary_mixer_.Qy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==5) { primary_mixer_.Qz[param_id_col] = RF_.params_.get_param_float(param_id); }

// Special Case for when secondary mixer is mirroring primary mixer.
mixer_type_t mixer_choice = static_cast<mixer_type_t>(RF_.params_.get_param_int(PARAM_SECONDARY_MIXER));
if (mixer_choice >= NUM_MIXERS) {
secondary_mixer_ = primary_mixer_;
save_secondary_mixer_params();
if(param_id_row==0) { secondary_mixer_.Fx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==1) { secondary_mixer_.Fy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==2) { secondary_mixer_.Fz[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==3) { secondary_mixer_.Qx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==4) { secondary_mixer_.Qy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==5) { secondary_mixer_.Qz[param_id_col] = RF_.params_.get_param_float(param_id); }
}

} else if ((param_id >=PARAM_SECONDARY_MIXER_0_0 )&&(param_id <=PARAM_SECONDARY_MIXER_5_9 )) {
load_secondary_mixer_values();

uint16_t param_id_offset = param_id-PARAM_SECONDARY_MIXER_0_0;
uint16_t param_id_row = param_id_offset%6;
uint16_t param_id_col = param_id_offset/6;
if(param_id_row==0) { secondary_mixer_.Fx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==1) { secondary_mixer_.Fy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==2) { secondary_mixer_.Fz[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==3) { secondary_mixer_.Qx[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==4) { secondary_mixer_.Qy[param_id_col] = RF_.params_.get_param_float(param_id); }
if(param_id_row==5) { secondary_mixer_.Qz[param_id_col] = RF_.params_.get_param_float(param_id); }

} else switch (param_id) {
case PARAM_PRIMARY_MIXER:
case PARAM_SECONDARY_MIXER:
init_mixing();
break;
case PARAM_MOTOR_RESISTANCE:
case PARAM_MOTOR_KV:
case PARAM_NO_LOAD_CURRENT:
case PARAM_PROP_DIAMETER:
case PARAM_PROP_CT:
case PARAM_PROP_CQ:
case PARAM_NUM_MOTORS:
case PARAM_VOLT_MAX:
update_parameters();
break;
case PARAM_MOTOR_RESISTANCE: R_ = RF_.params_.get_param_float(PARAM_MOTOR_RESISTANCE); break;
case PARAM_MOTOR_KV: K_V_ = RF_.params_.get_param_float(PARAM_MOTOR_KV); K_Q_ = K_V_; break;
case PARAM_NO_LOAD_CURRENT: i_0_ = RF_.params_.get_param_float(PARAM_NO_LOAD_CURRENT); break;
case PARAM_PROP_DIAMETER: D_ = RF_.params_.get_param_float(PARAM_PROP_DIAMETER); break;
case PARAM_PROP_CT: C_T_ = RF_.params_.get_param_float(PARAM_PROP_CT); break;
case PARAM_PROP_CQ: C_Q_ = RF_.params_.get_param_float(PARAM_PROP_CQ); break;
case PARAM_NUM_MOTORS: num_motors_ = RF_.params_.get_param_int(PARAM_NUM_MOTORS); break;
case PARAM_VOLT_MAX: V_max_ = RF_.params_.get_param_float(PARAM_VOLT_MAX); break;
case PARAM_MOTOR_PWM_SEND_RATE:
init_PWM();
break;
Expand All @@ -94,6 +126,7 @@ void Mixer::param_change_callback(uint16_t param_id)
}
}


void Mixer::init_mixing()
{
// clear the invalid mixer error
Expand Down