mixer

Array API mixer for mapping thrust/moment demands to rotor speeds.

Classes:

Name	Description
Mixer	Map batched thrust and moment demands to rotor speed commands.

Mixer

Mixer(params: VehicleParams = VehicleParams(), num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None, allocation_mode: Literal['pinv', 'saturation'] = 'pinv')

Map batched thrust and moment demands to rotor speed commands.

The default "pinv" allocator applies direct pseudo-inverse allocation. "saturation" enables a staged trim strategy: roll/pitch authority is trimmed first if needed, and yaw authority is allocated from the remaining rotor-speed margin.

Initialize the mixer matrix and backend namespace.

Parameters:

Name	Type	Description	Default
params	VehicleParams	Vehicle parameters used to build the allocation matrix.	VehicleParams()
num_envs	int	Number of parallel environments represented by the batch.	1
device		Optional backend device, mainly used by Torch.	None
backend	BackendName | None	Explicit Array API backend. If omitted, NumPy is used when device is None and Torch otherwise for compatibility.	None
xp	ModuleType | None	Pre-resolved Array API namespace. Overrides backend.	None
allocation_mode	Literal['pinv', 'saturation']	"pinv" for direct pseudo-inverse allocation or "saturation" for staged saturation-aware allocation.	'pinv'

Methods:

Name	Description
randomize	Randomize mixer parameters for selected environments.
calculate_rotor_commands	Allocate [thrust, roll, pitch, yaw] controls to rotor RPM.

randomize

randomize(env_ids=None, randomization: dict | None = None)

Randomize mixer parameters for selected environments.

calculate_rotor_commands

calculate_rotor_commands(control: ArrayLike) -> ArrayLike

Allocate [thrust, roll, pitch, yaw] controls to rotor RPM.

Parameters:

Name	Type	Description	Default
control	ArrayLike	Batched control array with shape (num_envs, 4).	required

Returns:

Type	Description
ArrayLike	Batched rotor speed magnitudes with shape (num_envs, 4).