text: /****************************************************************************
   *
   *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file mixer_multirotor.cpp
   *
   * Multi-rotor mixers.
   */
  #include <px4_config.h>
  #include <sys/types.h>
  #include <stdint.h>
  #include <stdbool.h>
  #include <stdlib.h>
  #include <string.h>
  #include <fcntl.h>
  #include <poll.h>
  #include <errno.h>
  #include <stdio.h>
  #include <math.h>
  #include <unistd.h>
  #include <math.h>
  
  #include <px4iofirmware/protocol.h>
  
  #include "mixer.h"
  
  // This file is generated by the multi_tables script which is invoked during the build process
  #include "mixer_multirotor.generated.h"
  
  #define debug(fmt, args...)	do { } while(0)
  //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
  //#include <debug.h>
  //#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
  
  /*
   * Clockwise: 1
   * Counter-clockwise: -1
   */
  
  namespace
  {
  
  float constrain(float val, float min, float max)
  {
  	return (val < min) ? min : ((val > max) ? max : val);
  }
  
  } // anonymous namespace
  
  MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
  				 uintptr_t cb_handle,
  				 MultirotorGeometry geometry,
  				 float roll_scale,
  				 float pitch_scale,
  				 float yaw_scale,
  				 float idle_speed) :
  	Mixer(control_cb, cb_handle),
  	_roll_scale(roll_scale),
  	_pitch_scale(pitch_scale),
  	_yaw_scale(yaw_scale),
  	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
  	_limits_pub(),
  	_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
  	_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
  {
  }
  
  MultirotorMixer::~MultirotorMixer()
  {
  }
  
  MultirotorMixer *
  MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
  {
  	MultirotorGeometry geometry;
  	char geomname[8];
  	int s[4];
  	int used;
  
  	/* enforce that the mixer ends with space or a new line */
  	for (int i = buflen - 1; i >= 0; i--) {
  		if (buf[i] == '\0') {
  			continue;
  		}
  
  		/* require a space or newline at the end of the buffer, fail on printable chars */
  		if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
  			/* found a line ending or space, so no split symbols / numbers. good. */
  			break;
  
  		} else {
  			debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen - 1, buf[i]);
  			return nullptr;
  		}
  
  	}
  
  	if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
  		debug("multirotor parse failed on '%s'", buf);
  		return nullptr;
  	}
  
  	if (used > (int)buflen) {
  		debug("OVERFLOW: multirotor spec used %d of %u", used, buflen);
  		return nullptr;
  	}
  
  	buf = skipline(buf, buflen);
  
  	if (buf == nullptr) {
  		debug("no line ending, line is incomplete");
  		return nullptr;
  	}
  
  	debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
  
  	if (!strcmp(geomname, "4+")) {
  		geometry = MultirotorGeometry::QUAD_PLUS;
  
  	} else if (!strcmp(geomname, "4x")) {
  		geometry = MultirotorGeometry::QUAD_X;
  
  	} else if (!strcmp(geomname, "4h")) {
  		geometry = MultirotorGeometry::QUAD_H;
  
  	} else if (!strcmp(geomname, "4v")) {
  		geometry = MultirotorGeometry::QUAD_V;
  
  	} else if (!strcmp(geomname, "4w")) {
  		geometry = MultirotorGeometry::QUAD_WIDE;
  
  	} else if (!strcmp(geomname, "4dc")) {
  		geometry = MultirotorGeometry::QUAD_DEADCAT;
  
  	} else if (!strcmp(geomname, "6+")) {
  		geometry = MultirotorGeometry::HEX_PLUS;
  
  	} else if (!strcmp(geomname, "6x")) {
  		geometry = MultirotorGeometry::HEX_X;
  
  	} else if (!strcmp(geomname, "6c")) {
  		geometry = MultirotorGeometry::HEX_COX;
  
  	} else if (!strcmp(geomname, "8+")) {
  		geometry = MultirotorGeometry::OCTA_PLUS;
  
  	} else if (!strcmp(geomname, "8x")) {
  		geometry = MultirotorGeometry::OCTA_X;
  
  	} else if (!strcmp(geomname, "8c")) {
  		geometry = MultirotorGeometry::OCTA_COX;
  
  	} else if (!strcmp(geomname, "2-")) {
  		geometry = MultirotorGeometry::TWIN_ENGINE;
  
  	} else if (!strcmp(geomname, "3y")) {
  		geometry = MultirotorGeometry::TRI_Y;
  
  	} else {
  		debug("unrecognised geometry '%s'", geomname);
  		return nullptr;
  	}
  
  	debug("adding multirotor mixer '%s'", geomname);
  
  	return new MultirotorMixer(
  		       control_cb,
  		       cb_handle,
  		       geometry,
  		       s[0] / 10000.0f,
  		       s[1] / 10000.0f,
  		       s[2] / 10000.0f,
  		       s[3] / 10000.0f);
  }
  
  unsigned
  MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
  {
  	/* Summary of mixing strategy:
  	1) mix roll, pitch and thrust without yaw.
  	2) if some outputs violate range [0,1] then try to shift all outputs to minimize violation ->
  		increase or decrease total thrust (boost). The total increase or decrease of thrust is limited
  		(max_thrust_diff). If after the shift some outputs still violate the bounds then scale roll & pitch.
  		In case there is violation at the lower and upper bound then try to shift such that violation is equal
  		on both sides.
  	3) mix in yaw and scale if it leads to limit violation.
  	4) scale all outputs to range [idle_speed,1]
  	*/
  
  	float		roll    = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
  	float		pitch   = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
  	float		yaw     = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
  	float		thrust  = constrain(get_control(0, 3), 0.0f, 1.0f);
  	float		min_out = 0.0f;
  	float		max_out = 0.0f;
  
  	// clean register for saturation status flags
  	if (status_reg != NULL) {
  		(*status_reg) = 0;
  	}
  
  	// thrust boost parameters
  	float thrust_increase_factor = 1.5f;
  	float thrust_decrease_factor = 0.6f;
  
  	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
  	for (unsigned i = 0; i < _rotor_count; i++) {
  		float out = roll * _rotors[i].roll_scale +
  			    pitch * _rotors[i].pitch_scale +
  			    thrust;
  
  		out *= _rotors[i].out_scale;
  
  		/* calculate min and max output values */
  		if (out < min_out) {
  			min_out = out;
  		}
  
  		if (out > max_out) {
  			max_out = out;
  		}
  
  		outputs[i] = out;
  	}
  
  	float boost = 0.0f;				// value added to demanded thrust (can also be negative)
  	float roll_pitch_scale = 1.0f;	// scale for demanded roll and pitch
  
  	if (min_out < 0.0f && max_out < 1.0f && -min_out <= 1.0f - max_out) {
  		float max_thrust_diff = thrust * thrust_increase_factor - thrust;
  
  		if (max_thrust_diff >= -min_out) {
  			boost = -min_out;
  
  		} else {
  			boost = max_thrust_diff;
  			roll_pitch_scale = (thrust + boost) / (thrust - min_out);
  		}
  
  	} else if (max_out > 1.0f && min_out > 0.0f && min_out >= max_out - 1.0f) {
  		float max_thrust_diff = thrust - thrust_decrease_factor * thrust;
  
  		if (max_thrust_diff >= max_out - 1.0f) {
  			boost = -(max_out - 1.0f);
  
  		} else {
  			boost = -max_thrust_diff;
  			roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);
  		}
  
  	} else if (min_out < 0.0f && max_out < 1.0f && -min_out > 1.0f - max_out) {
  		float max_thrust_diff = thrust * thrust_increase_factor - thrust;
  		boost = constrain(-min_out - (1.0f - max_out) / 2.0f, 0.0f, max_thrust_diff);
  		roll_pitch_scale = (thrust + boost) / (thrust - min_out);
  
  	} else if (max_out > 1.0f && min_out > 0.0f && min_out < max_out - 1.0f) {
  		float max_thrust_diff = thrust - thrust_decrease_factor * thrust;
  		boost = constrain(-(max_out - 1.0f - min_out) / 2.0f, -max_thrust_diff, 0.0f);
  		roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);
  
  	} else if (min_out < 0.0f && max_out > 1.0f) {
  		boost = constrain(-(max_out - 1.0f + min_out) / 2.0f, thrust_decrease_factor * thrust - thrust,
  				  thrust_increase_factor * thrust - thrust);
  		roll_pitch_scale = (thrust + boost) / (thrust - min_out);
  	}
  
  	// notify if saturation has occurred
  	if (min_out < 0.0f) {
  		if (status_reg != NULL) {
  			(*status_reg) |= PX4IO_P_STATUS_MIXER_LOWER_LIMIT;
  		}
  	}
  
  	if (max_out > 0.0f) {
  		if (status_reg != NULL) {
  			(*status_reg) |= PX4IO_P_STATUS_MIXER_UPPER_LIMIT;
  		}
  	}
  
  	// mix again but now with thrust boost, scale roll/pitch and also add yaw
  	for (unsigned i = 0; i < _rotor_count; i++) {
  		float out = (roll * _rotors[i].roll_scale +
  			     pitch * _rotors[i].pitch_scale) * roll_pitch_scale +
  			    yaw * _rotors[i].yaw_scale +
  			    thrust + boost;
  
  		out *= _rotors[i].out_scale;
  
  		// scale yaw if it violates limits. inform about yaw limit reached
  		if (out < 0.0f) {
  			if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
  				yaw = 0.0f;
  
  			} else {
  				yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
  					roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
  			}
  
  			if (status_reg != NULL) {
  				(*status_reg) |= PX4IO_P_STATUS_MIXER_YAW_LIMIT;
  			}
  
  		} else if (out > 1.0f) {
  			// allow to reduce thrust to get some yaw response
  			float thrust_reduction = fminf(0.15f, out - 1.0f);
  			thrust -= thrust_reduction;
  
  			if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
  				yaw = 0.0f;
  
  			} else {
  				yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
  					       roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;
  			}
  
  			if (status_reg != NULL) {
  				(*status_reg) |= PX4IO_P_STATUS_MIXER_YAW_LIMIT;
  			}
  		}
  	}
  
  	/* add yaw and scale outputs to range idle_speed...1 */
  	for (unsigned i = 0; i < _rotor_count; i++) {
  		outputs[i] = (roll * _rotors[i].roll_scale +
  			      pitch * _rotors[i].pitch_scale) * roll_pitch_scale +
  			     yaw * _rotors[i].yaw_scale +
  			     thrust + boost;
  
  		outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed)), _idle_speed, 1.0f);
  	}
  
  	return _rotor_count;
  }
  
  void
  MultirotorMixer::groups_required(uint32_t &groups)
  {
  	/* XXX for now, hardcoded to indexes 0-3 in control group zero */
  	groups |= (1 << 0);
  }
  
  