Struct QuadXMixer 

pub struct QuadXMixer;

A stateless utility for calculating motor power distribution.

Trait Implementations

impl Mixer for QuadXMixer

fn mix(&self, roll: f32, pitch: f32, yaw: f32, throttle: f32) -> Self::Output

Mixes axis control signals and throttle into individual motor outputs.

This follows the standard Quad-X mixing matrix. The signs (+/-) for each component are determined by the motor’s position relative to the center of mass and its rotational direction.

Parameters

• roll - Normalized roll correction [-1.0, 1.0].
• pitch - Normalized pitch correction [-1.0, 1.0].
• yaw - Normalized yaw correction [-1.0, 1.0].
• throttle - Base power level [0.0, 1.0].

Returns

A MotorSignals struct with values clamped to the safe operating range [0.0, 1.0].

type Output = QuadMotorSignals

The specific signal type produced by this mixer (e.g., 4 signals for a quad).