mixers: Multirotor remove text roll, pitch, yaw scaling and idle speed

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -14,7 +14,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER zmr250
+set MIXER quad_x
 set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]

ROMFS/px4fmu_common/mixers-sitl/quad_x_vtol.main.mix

@@ -1,7 +1,7 @@
 Mixer for the gazebo tailsitter model
 =====================================
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 Z:
 

ROMFS/px4fmu_common/mixers-sitl/standard_vtol_sitl.main.mix

@@ -3,7 +3,7 @@ Mixer for standard vtol plane (SITL) with motor x configuration
 
 This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 # mixer for the pusher/puller throttle
 M: 1

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl.main.mix

@@ -3,7 +3,7 @@ Mixer for quad tiltrotor (x motor configuration)
 
 This file defines a single mixer for a tiltrotor (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 # tilt servo motor 1
 M: 1

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -57,7 +57,6 @@ px4_add_romfs_files(
 	IO_pass.main.mix
 	mount.aux.mix
 	mount_legs.aux.mix
-	ocpoc_quad_x.main.mix
 	octo_cox.main.mix
 	octo_cox_w.main.mix
 	octo_+.main.mix
@@ -84,7 +83,6 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	wingwing.main.mix
-	zmr250.main.mix
 	TF-AutoG2.main.mix
 	uuv_x.main.mix
 )

ROMFS/px4fmu_common/mixers/babyshark.main.mix

@@ -35,4 +35,4 @@ S: 1 1  -8000  -8000      0 -10000  10000
 
 Quad motors 1 - 4
 -----------------
-R: 4x 10000 10000 10000 0
+R: 4x

ROMFS/px4fmu_common/mixers/claire.main.mix

@@ -4,4 +4,4 @@
 
 #===========================
 
-R: 4x 10000 10000 10000 0
+R: 4x

ROMFS/px4fmu_common/mixers/deltaquad.main.mix

@@ -4,7 +4,7 @@
 Quad motors 1 - 4
 -------------
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 
 Elevon mixers

ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix

@@ -1,3 +1,3 @@
 # Dodeca Cox
 
-R: 6a 10000 10000 10000 0
+R: 6a

ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix

@@ -1,3 +1,3 @@
 # Dodeca Cox
 
-R: 6m 10000 10000 10000 0
+R: 6m

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -1,4 +1,4 @@
 # FireFly6 mixer for PX4FMU
 #
 #===========================
-R: 6c 10000 10000 10000 0
+R: 6c

ROMFS/px4fmu_common/mixers/hexa_+.main.mix

@@ -1,3 +1,3 @@
 # Hexa +
 
-R: 6+ 10000 10000 10000 0
+R: 6+

ROMFS/px4fmu_common/mixers/hexa_cox.main.mix

@@ -1,3 +1,3 @@
 # Hexa coaxial
 
-R: 6c 10000 10000 10000 0
+R: 6c

ROMFS/px4fmu_common/mixers/hexa_x.main.mix

@@ -1,4 +1,4 @@
 # Hexa X
 
-R: 6x 10000 10000 10000 0
+R: 6x
 

ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix

@@ -1 +0,0 @@
-R: 4x 10000 10000 10000 1300

ROMFS/px4fmu_common/mixers/octo_+.main.mix

@@ -1,3 +1,3 @@
 # Octo +
 
-R: 8+ 10000 10000 10000 0
+R: 8+

ROMFS/px4fmu_common/mixers/octo_cox.main.mix

@@ -1,3 +1,3 @@
 # Octo coaxial
 
-R: 8c 10000 10000 10000 0
+R: 8c

ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix

@@ -1,3 +1,3 @@
 # Octo coaxial with wide arms
 
-R: 8cw 10000 10000 10000 0
+R: 8cw

ROMFS/px4fmu_common/mixers/octo_x.main.mix

@@ -1,3 +1,3 @@
 # Octo X
 
-R: 8x 10000 10000 10000 0
+R: 8x

ROMFS/px4fmu_common/mixers/quad_+.main.mix

@@ -4,7 +4,7 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor in the + configuration. All controls
 are mixed 100%.
 
-R: 4+ 10000 10000 10000 0
+R: 4+
 
 Gimbal / payload mixer for last two channels
 -----------------------------------------------------

ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix

@@ -4,7 +4,7 @@ Mixer for Tailsitter with + motor configuration and elevons
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
 
-R: 4+ 10000 10000 10000 0
+R: 4+
 
 # mixer for the elevons
 M: 2

ROMFS/px4fmu_common/mixers/quad_dc.main.mix

@@ -3,4 +3,4 @@ Multirotor mixer
 
 This file defines a single mixer for a quadrotor in DC wide arms configuration.  All controls are mixed 100%.
 
-R: 4dc 10000 10000 10000 0
+R: 4dc

ROMFS/px4fmu_common/mixers/quad_h.main.mix

@@ -4,7 +4,7 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor in the H configuration.  All controls
 are mixed 100%.
 
-R: 4h 10000 10000 10000 0
+R: 4h
 
 Gimbal / payload mixer for last two channels
 -----------------------------------------------------

ROMFS/px4fmu_common/mixers/quad_s250aq.main.mix

@@ -1,4 +1,4 @@
-R: 4s 10000 10000 10000 0
+R: 4s
 M: 1
 S: 3 5  10000  10000      0 -10000  10000
 M: 1

ROMFS/px4fmu_common/mixers/quad_w.main.mix

@@ -3,7 +3,7 @@ Multirotor mixer for PX4FMU
 
 This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
 
-R: 4w 10000 10000 10000 0
+R: 4w
 
 Gimbal / payload mixer for last two channels
 -----------------------------------------------------

ROMFS/px4fmu_common/mixers/quad_x.main.mix

@@ -1,4 +1,4 @@
-R: 4x 10000 10000 10000 0
+R: 4x
 
 AUX1 Passthrough
 M: 1

ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix

@@ -1,4 +1,4 @@
 # @board px4_fmu-v2 exclude
 # Quad X with clock-wise motor assigment
 
-R: 4xcw 10000 10000 10000 0
+R: 4xcw

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -4,7 +4,7 @@ Mixer for Tailsitter with x motor configuration and elevons
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 # left elevon
 M: 2

ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix

@@ -3,7 +3,7 @@ Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
 
 # @board px4_fmu-v2 exclude
 
-R: 4x 10000 10000 10000 0
+R: 4x
 
 # mixer for the pusher/puller throttle
 M: 1

ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix

@@ -4,7 +4,7 @@
 # Yaw Servo +Output ==> +Yaw Vehicle Rotation
 
 # Motors
-R: 3y 10000 10000 10000 0
+R: 3y
 
 # Yaw Servo
 M: 1

ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix

@@ -4,7 +4,7 @@
 # Yaw Servo +Output ==> -Yaw Vehicle Rotation
 
 # Motors
-R: 3y 10000 10000 10000 0
+R: 3y
 
 # Yaw Servo
 M: 1

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

@@ -1,7 +1,7 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
 
 # Motors
-R: 3y 10000 10000 10000 0
+R: 3y
 
 Z:
 

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix

@@ -13,7 +13,7 @@ Motor mixer
 Channel 1 connects to the right (starboard) motor.
 Channel 2 connects to the left (port) motor.
 
-R: 2- 10000 10000 10000 0
+R: 2-
 
 Zero mixer (2x)
 ---------------

ROMFS/px4fmu_common/mixers/zmr250.main.mix

@@ -1,11 +0,0 @@
-#
-# @board px4_fmu-v2 exclude
-#
-# R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
-R: 4x 7654 10000 10000 0
-
-M: 1
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-S: 0 5  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/hexa_x.main.mix

@@ -1,4 +1,4 @@
 # Hexa X
 
-R: 6x 10000 10000 10000 0
+R: 6x
 

ROMFS/px4fmu_test/mixers/octo_x.main.mix

@@ -1,3 +1,3 @@
 # Octo X
 
-R: 8x 10000 10000 10000 0
+R: 8x

ROMFS/px4fmu_test/mixers/quad_+.main.mix

@@ -4,7 +4,7 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor in the + configuration. All controls
 are mixed 100%.
 
-R: 4+ 10000 10000 10000 0
+R: 4+
 
 Gimbal / payload mixer for last two channels
 -----------------------------------------------------

ROMFS/px4fmu_test/mixers/quad_+_vtol.main.mix

@@ -4,7 +4,7 @@ Mixer for Tailsitter with + motor configuration and elevons
 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
 
-R: 4+ 10000 10000 10000 0
+R: 4+
 
 # mixer for the elevons
 M: 2

ROMFS/px4fmu_test/mixers/quad_test.mix

@@ -3,7 +3,7 @@ Multirotor mixer for TEST
 
 This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
 
-R: 4w 10000 10000 10000 0
+R: 4w
 
 Gimbal / payload mixer for last four channels
 -----------------------------------------------------

ROMFS/px4fmu_test/mixers/quad_x.main.mix

@@ -1,4 +1,4 @@
-R: 4x 10000 10000 10000 0
+R: 4x
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 3 5  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/vtol1_test.mix

@@ -1,6 +1,6 @@
 # VTOL test mixer
 
-R: 2- 10000 10000 10000 0
+R: 2-
 Z:
 M: 2
 O:      10000  10000      0 -10000  10000

ROMFS/px4fmu_test/mixers/vtol2_test.mix

@@ -1,7 +1,7 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
 
 # Motors
-R: 3y 10000 10000 10000 0
+R: 3y
 
 Z:
 

ROMFS/px4fmu_test/mixers/vtol_convergence.main.mix

@@ -1,7 +1,7 @@
 # E-flite Convergence Tricopter Y-Configuration Mixer
 
 # Motors
-R: 3y 10000 10000 10000 0
+R: 3y
 
 Z:
 

posix-configs/ocpoc/px4.config

@@ -46,6 +46,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
 
 rc_input start -d /dev/ttyS2
 
-linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix
+linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
 logger start -t -b 200
 mavlink boot_complete

src/lib/mixer/MultirotorMixer/MultirotorMixer.cpp

@@ -79,14 +79,9 @@ const char *_config_key[] = {"4x"};
 //#include <debug.h>
 //#define debug(fmt, args...)	syslog(fmt "\n", ##args)
 
-MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry,
+MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry) :
-				 float roll_scale, float pitch_scale, float yaw_scale, float idle_speed) :
 	MultirotorMixer(control_cb, cb_handle, _config_index[(int)geometry], _config_rotor_count[(int)geometry])
 {
-	_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 */
 }
 
 MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, const Rotor *rotors,
@@ -98,7 +93,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle
 	_tmp_array(new float[_rotor_count])
 {
 	for (unsigned i = 0; i < _rotor_count; ++i) {
-		_outputs_prev[i] = _idle_speed;
+		_outputs_prev[i] = 0.f;
 	}
 }
 
@@ -113,24 +108,17 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 {
 	MultirotorGeometry geometry = MultirotorGeometry::MAX_GEOMETRY;
 	char geomname[16];
-	int s[4];
-	int used;
 
 	/* enforce that the mixer ends with a new line */
 	if (!string_well_formed(buf, buflen)) {
 		return nullptr;
 	}
 
-	if (sscanf(buf, "R: %15s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
+	if (sscanf(buf, "R: %15s", geomname) != 1) {
 		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) {
@@ -155,14 +143,7 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 
 	debug("adding multirotor mixer '%s'", geomname);
 
-	return new MultirotorMixer(
+	return new MultirotorMixer(control_cb, cb_handle, geometry);
-		       control_cb,
-		       cb_handle,
-		       geometry,
-		       s[0] / 10000.0f,
-		       s[1] / 10000.0f,
-		       s[2] / 10000.0f,
-		       s[3] / 10000.0f);
 }
 
 float
@@ -339,9 +320,9 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		return 0;
 	}
 
-	float roll    = math::constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
+	float roll    = math::constrain(get_control(0, 0), -1.0f, 1.0f);
-	float pitch   = math::constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
+	float pitch   = math::constrain(get_control(0, 1), -1.0f, 1.0f);
-	float yaw     = math::constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
+	float yaw     = math::constrain(get_control(0, 2), -1.0f, 1.0f);
 	float thrust  = math::constrain(get_control(0, 3), 0.0f, 1.0f);
 
 	// clean out class variable used to capture saturation
@@ -375,7 +356,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 							_thrust_factor));
 		}
 
-		outputs[i] = math::constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed)), _idle_speed, 1.0f);
+		outputs[i] = math::constrain(outputs[i], 0.f, 1.f);
 	}
 
 	// Slew rate limiting and saturation checking
@@ -389,7 +370,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		// clipping if airmode==roll/pitch), since in all other cases thrust will
 		// be reduced or boosted and we can keep the integrators enabled, which
 		// leads to better tracking performance.
-		if (outputs[i] < _idle_speed + 0.01f) {
+		if (outputs[i] < 0.01f) {
 			if (_airmode == Airmode::disabled) {
 				clipping_low_roll_pitch = true;
 				clipping_low_yaw = true;

src/lib/mixer/MultirotorMixer/MultirotorMixer.hpp

@@ -79,8 +79,7 @@ public:
 	 *				tuned to ensure that rotors never stall at the
 	 * 				low end of their control range.
 	 */
-	MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry,
+	MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, MultirotorGeometry geometry);
-			float roll_scale, float pitch_scale, float yaw_scale, float idle_speed);
 
 	/**
 	 * Constructor (for testing).
@@ -241,10 +240,6 @@ private:
 
 	void update_saturation_status(unsigned index, bool clipping_high, bool clipping_low_roll_pitch, bool clipping_low_yaw);
 
-	float				_roll_scale{1.0f};
-	float				_pitch_scale{1.0f};
-	float				_yaw_scale{1.0f};
-	float				_idle_speed{0.0f};
 	float 				_delta_out_max{0.0f};
 	float 				_thrust_factor{0.0f};