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ROMFS wide quad mixer addition and cleanup

This commit is contained in:
Lorenz Meier 2013-05-05 11:35:56 +02:00
parent 8c6abe717d 1dbbdcfa48
commit 13110e0a1f
6 changed files with 27 additions and 2 deletions
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2
Makefile
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@ -1,5 +1,5 @@
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (c) 2012, 2013 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

0
ROMFS/scripts/rc.IO_QUAD → ROMFS/px4fmu_common/init.d/rc.IO_QUAD
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6
ROMFS/px4fmu_common/mixers/FMU_quad_w.mix Normal file
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@ -0,0 +1,6 @@
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

1
src/modules/systemlib/mixer/mixer.h
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@ -419,6 +419,7 @@ public:
QUAD_X = 0, /**< quad in X configuration */
QUAD_PLUS, /**< quad in + configuration */
QUAD_V, /**< quad in V configuration */
QUAD_WIDE, /**< quad in wide configuration */
HEX_X, /**< hex in X configuration */
HEX_PLUS, /**< hex in + configuration */
OCTA_X,

11
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = {
{ 0.927184, 0.374607, -1.00 },
{ -0.694658, -0.719340, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.777146, -0.629320, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.777146, -0.629320, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
&_config_quad_wide[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_octa_x[0],
@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
4, /* quad_wide */
6, /* hex_x */
6, /* hex_plus */
8, /* octa_x */
@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorMixer::QUAD_V;
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorMixer::QUAD_WIDE;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;

9
src/modules/systemlib/mixer/multi_tables
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@ -27,6 +27,13 @@ set quad_v {
136 CW
}
set quad_wide {
68 CCW
-129 CCW
-68 CW
129 CW
}
set hex_x {
90 CW
-90 CCW
@ -67,7 +74,7 @@ set octa_plus {
90 CW
}
set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}