forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'upstream/master' into dev_ros
This commit is contained in:
Thomas Gubler
commit
462a5fae90
|
|
@ -42,3 +42,4 @@ tags
|
|||
src/modules/uORB/topics/*
|
||||
Firmware.zip
|
||||
unittests/build
|
||||
*.generated.h
|
||||
|
|
|
|||
|
|
@ -4,7 +4,10 @@
|
|||
language: cpp
|
||||
|
||||
before_script:
|
||||
- sudo apt-get update -q
|
||||
- sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test
|
||||
- sudo apt-get update -qq
|
||||
- if [ "$CXX" = "g++" ]; then sudo apt-get install -qq g++-4.8 gcc-4.8 libstdc++-4.8-dev; fi
|
||||
- if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
|
||||
# Travis specific tools
|
||||
- sudo apt-get install s3cmd grep zip mailutils
|
||||
# General toolchain dependencies
|
||||
|
|
@ -39,6 +42,7 @@ script:
|
|||
- arm-none-eabi-gcc --version
|
||||
- echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
|
||||
- make tests
|
||||
- cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
|
||||
- echo -en 'travis_fold:end:script.1\\r'
|
||||
- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
|
||||
- make archives
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.07
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
|
||||
|
||||
SRCS = adc.c \
|
||||
controls.c \
|
||||
dsm.c \
|
||||
|
|
@ -24,3 +23,7 @@ ifeq ($(BOARD),px4io-v2)
|
|||
SRCS += serial.c \
|
||||
../systemlib/hx_stream.c
|
||||
endif
|
||||
|
||||
SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
include $(SELF_DIR)../systemlib/mixer/multi_tables.mk
|
||||
|
||||
|
|
@ -441,6 +441,15 @@ private:
|
|||
SimpleMixer operator=(const SimpleMixer&);
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* Supported multirotor geometries.
|
||||
*
|
||||
* Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
|
||||
*/
|
||||
typedef unsigned int MultirotorGeometryUnderlyingType;
|
||||
enum class MultirotorGeometry : MultirotorGeometryUnderlyingType;
|
||||
|
||||
/**
|
||||
* Multi-rotor mixer for pre-defined vehicle geometries.
|
||||
*
|
||||
|
|
@ -450,27 +459,6 @@ private:
|
|||
class __EXPORT MultirotorMixer : public Mixer
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Supported multirotor geometries.
|
||||
*
|
||||
* XXX add more
|
||||
*/
|
||||
enum Geometry {
|
||||
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 */
|
||||
HEX_COX,
|
||||
OCTA_X,
|
||||
OCTA_PLUS,
|
||||
OCTA_COX,
|
||||
TWIN_ENGINE, /**< VTOL: one engine on each wing */
|
||||
|
||||
MAX_GEOMETRY
|
||||
};
|
||||
|
||||
/**
|
||||
* Precalculated rotor mix.
|
||||
*/
|
||||
|
|
@ -498,7 +486,7 @@ public:
|
|||
*/
|
||||
MultirotorMixer(ControlCallback control_cb,
|
||||
uintptr_t cb_handle,
|
||||
Geometry geometry,
|
||||
MultirotorGeometry geometry,
|
||||
float roll_scale,
|
||||
float pitch_scale,
|
||||
float yaw_scale,
|
||||
|
|
|
|||
|
|
@ -55,6 +55,9 @@
|
|||
|
||||
#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>
|
||||
|
|
@ -72,125 +75,11 @@ float constrain(float val, float min, float max)
|
|||
{
|
||||
return (val < min) ? min : ((val > max) ? max : val);
|
||||
}
|
||||
|
||||
/*
|
||||
* These tables automatically generated by multi_tables - do not edit.
|
||||
*/
|
||||
|
||||
const MultirotorMixer::Rotor _config_quad_x[] = {
|
||||
{ -0.707107, 0.707107, 1.000000 },
|
||||
{ 0.707107, -0.707107, 1.000000 },
|
||||
{ 0.707107, 0.707107, -1.000000 },
|
||||
{ -0.707107, -0.707107, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_quad_plus[] = {
|
||||
{ -1.000000, 0.000000, 1.000000 },
|
||||
{ 1.000000, 0.000000, 1.000000 },
|
||||
{ 0.000000, 1.000000, -1.000000 },
|
||||
{ -0.000000, -1.000000, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_quad_v[] = {
|
||||
{ -0.322266, 0.946649, 0.424200 },
|
||||
{ 0.322266, 0.946649, 1.000000 },
|
||||
{ 0.322266, 0.946649, -0.424200 },
|
||||
{ -0.322266, 0.946649, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_quad_wide[] = {
|
||||
{ -0.927184, 0.374607, 1.000000 },
|
||||
{ 0.777146, -0.629320, 1.000000 },
|
||||
{ 0.927184, 0.374607, -1.000000 },
|
||||
{ -0.777146, -0.629320, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_hex_x[] = {
|
||||
{ -1.000000, 0.000000, -1.000000 },
|
||||
{ 1.000000, 0.000000, 1.000000 },
|
||||
{ 0.500000, 0.866025, -1.000000 },
|
||||
{ -0.500000, -0.866025, 1.000000 },
|
||||
{ -0.500000, 0.866025, 1.000000 },
|
||||
{ 0.500000, -0.866025, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_hex_plus[] = {
|
||||
{ 0.000000, 1.000000, -1.000000 },
|
||||
{ -0.000000, -1.000000, 1.000000 },
|
||||
{ 0.866025, -0.500000, -1.000000 },
|
||||
{ -0.866025, 0.500000, 1.000000 },
|
||||
{ 0.866025, 0.500000, 1.000000 },
|
||||
{ -0.866025, -0.500000, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_hex_cox[] = {
|
||||
{ -0.866025, 0.500000, -1.000000 },
|
||||
{ -0.866025, 0.500000, 1.000000 },
|
||||
{ -0.000000, -1.000000, -1.000000 },
|
||||
{ -0.000000, -1.000000, 1.000000 },
|
||||
{ 0.866025, 0.500000, -1.000000 },
|
||||
{ 0.866025, 0.500000, 1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_octa_x[] = {
|
||||
{ -0.382683, 0.923880, -1.000000 },
|
||||
{ 0.382683, -0.923880, -1.000000 },
|
||||
{ -0.923880, 0.382683, 1.000000 },
|
||||
{ -0.382683, -0.923880, 1.000000 },
|
||||
{ 0.382683, 0.923880, 1.000000 },
|
||||
{ 0.923880, -0.382683, 1.000000 },
|
||||
{ 0.923880, 0.382683, -1.000000 },
|
||||
{ -0.923880, -0.382683, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_octa_plus[] = {
|
||||
{ 0.000000, 1.000000, -1.000000 },
|
||||
{ -0.000000, -1.000000, -1.000000 },
|
||||
{ -0.707107, 0.707107, 1.000000 },
|
||||
{ -0.707107, -0.707107, 1.000000 },
|
||||
{ 0.707107, 0.707107, 1.000000 },
|
||||
{ 0.707107, -0.707107, 1.000000 },
|
||||
{ 1.000000, 0.000000, -1.000000 },
|
||||
{ -1.000000, 0.000000, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_octa_cox[] = {
|
||||
{ -0.707107, 0.707107, 1.000000 },
|
||||
{ 0.707107, 0.707107, -1.000000 },
|
||||
{ 0.707107, -0.707107, 1.000000 },
|
||||
{ -0.707107, -0.707107, -1.000000 },
|
||||
{ 0.707107, 0.707107, 1.000000 },
|
||||
{ -0.707107, 0.707107, -1.000000 },
|
||||
{ -0.707107, -0.707107, 1.000000 },
|
||||
{ 0.707107, -0.707107, -1.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor _config_twin_engine[] = {
|
||||
{ -1.000000, 0.000000, 0.000000 },
|
||||
{ 1.000000, 0.000000, 0.000000 },
|
||||
};
|
||||
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
|
||||
&_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_hex_cox[0],
|
||||
&_config_octa_x[0],
|
||||
&_config_octa_plus[0],
|
||||
&_config_octa_cox[0],
|
||||
&_config_twin_engine[0],
|
||||
};
|
||||
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
|
||||
4, /* quad_x */
|
||||
4, /* quad_plus */
|
||||
4, /* quad_v */
|
||||
4, /* quad_wide */
|
||||
6, /* hex_x */
|
||||
6, /* hex_plus */
|
||||
6, /* hex_cox */
|
||||
8, /* octa_x */
|
||||
8, /* octa_plus */
|
||||
8, /* octa_cox */
|
||||
2, /* twin_engine */
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
|
||||
uintptr_t cb_handle,
|
||||
Geometry geometry,
|
||||
MultirotorGeometry geometry,
|
||||
float roll_scale,
|
||||
float pitch_scale,
|
||||
float yaw_scale,
|
||||
|
|
@ -200,8 +89,8 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
|
|||
_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 */
|
||||
_rotor_count(_config_rotor_count[geometry]),
|
||||
_rotors(_config_index[geometry])
|
||||
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
|
||||
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -212,7 +101,7 @@ MultirotorMixer::~MultirotorMixer()
|
|||
MultirotorMixer *
|
||||
MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
|
||||
{
|
||||
MultirotorMixer::Geometry geometry;
|
||||
MultirotorGeometry geometry;
|
||||
char geomname[8];
|
||||
int s[4];
|
||||
int used;
|
||||
|
|
@ -252,37 +141,37 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
|
|||
debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
|
||||
|
||||
if (!strcmp(geomname, "4+")) {
|
||||
geometry = MultirotorMixer::QUAD_PLUS;
|
||||
geometry = MultirotorGeometry::QUAD_PLUS;
|
||||
|
||||
} else if (!strcmp(geomname, "4x")) {
|
||||
geometry = MultirotorMixer::QUAD_X;
|
||||
geometry = MultirotorGeometry::QUAD_X;
|
||||
|
||||
} else if (!strcmp(geomname, "4v")) {
|
||||
geometry = MultirotorMixer::QUAD_V;
|
||||
geometry = MultirotorGeometry::QUAD_V;
|
||||
|
||||
} else if (!strcmp(geomname, "4w")) {
|
||||
geometry = MultirotorMixer::QUAD_WIDE;
|
||||
geometry = MultirotorGeometry::QUAD_WIDE;
|
||||
|
||||
} else if (!strcmp(geomname, "6+")) {
|
||||
geometry = MultirotorMixer::HEX_PLUS;
|
||||
geometry = MultirotorGeometry::HEX_PLUS;
|
||||
|
||||
} else if (!strcmp(geomname, "6x")) {
|
||||
geometry = MultirotorMixer::HEX_X;
|
||||
geometry = MultirotorGeometry::HEX_X;
|
||||
|
||||
} else if (!strcmp(geomname, "6c")) {
|
||||
geometry = MultirotorMixer::HEX_COX;
|
||||
geometry = MultirotorGeometry::HEX_COX;
|
||||
|
||||
} else if (!strcmp(geomname, "8+")) {
|
||||
geometry = MultirotorMixer::OCTA_PLUS;
|
||||
geometry = MultirotorGeometry::OCTA_PLUS;
|
||||
|
||||
} else if (!strcmp(geomname, "8x")) {
|
||||
geometry = MultirotorMixer::OCTA_X;
|
||||
geometry = MultirotorGeometry::OCTA_X;
|
||||
|
||||
} else if (!strcmp(geomname, "8c")) {
|
||||
geometry = MultirotorMixer::OCTA_COX;
|
||||
geometry = MultirotorGeometry::OCTA_COX;
|
||||
|
||||
} else if (!strcmp(geomname, "2-")) {
|
||||
geometry = MultirotorMixer::TWIN_ENGINE;
|
||||
geometry = MultirotorGeometry::TWIN_ENGINE;
|
||||
} else {
|
||||
debug("unrecognised geometry '%s'", geomname);
|
||||
return nullptr;
|
||||
|
|
|
|||
|
|
@ -31,13 +31,17 @@
|
|||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
#
|
||||
# mixer library
|
||||
#
|
||||
LIBNAME = mixerlib
|
||||
|
||||
|
||||
SRCS = mixer.cpp \
|
||||
mixer_group.cpp \
|
||||
mixer_multirotor.cpp \
|
||||
mixer_simple.cpp \
|
||||
mixer_load.c
|
||||
|
||||
SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
include $(SELF_DIR)multi_tables.mk
|
||||
|
|
|
|||
|
|
@ -1,135 +1,197 @@
|
|||
#!/usr/bin/tclsh
|
||||
#!/usr/bin/env python
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2013, 2014 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
|
||||
#
|
||||
|
||||
proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
|
||||
proc rcos {a} { expr cos([rad $a])}
|
||||
import math
|
||||
|
||||
print "/*"
|
||||
print "* This file is automatically generated by multi_tables - do not edit."
|
||||
print "*/"
|
||||
print ""
|
||||
print "#ifndef _MIXER_MULTI_TABLES"
|
||||
print "#define _MIXER_MULTI_TABLES"
|
||||
print ""
|
||||
|
||||
def rcos(angleInRadians):
|
||||
return math.cos(math.radians(angleInRadians))
|
||||
|
||||
CCW = 1.0
|
||||
CW = -CCW
|
||||
|
||||
quad_x = [
|
||||
[ 45, CCW],
|
||||
[-135, CCW],
|
||||
[-45, CW],
|
||||
[135, CW],
|
||||
]
|
||||
|
||||
quad_plus = [
|
||||
[ 90, CCW],
|
||||
[ -90, CCW],
|
||||
[ 0, CW],
|
||||
[ 180, CW],
|
||||
]
|
||||
|
||||
quad_v = [
|
||||
[ 18.8, 0.4242],
|
||||
[ -18.8, 1.0],
|
||||
[ -18.8, -0.4242],
|
||||
[ 18.8, -1.0],
|
||||
]
|
||||
|
||||
quad_wide = [
|
||||
[ 68, CCW],
|
||||
[ -129, CCW],
|
||||
[ -68, CW],
|
||||
[ 129, CW],
|
||||
]
|
||||
|
||||
hex_x = [
|
||||
[ 90, CW],
|
||||
[ -90, CCW],
|
||||
[ -30, CW],
|
||||
[ 150, CCW],
|
||||
[ 30, CCW],
|
||||
[-150, CW],
|
||||
]
|
||||
|
||||
hex_plus = [
|
||||
[ 0, CW],
|
||||
[ 180, CCW],
|
||||
[-120, CW],
|
||||
[ 60, CCW],
|
||||
[ -60, CCW],
|
||||
[ 120, CW],
|
||||
]
|
||||
|
||||
hex_cox = [
|
||||
[ 60, CW],
|
||||
[ 60, CCW],
|
||||
[ 180, CW],
|
||||
[ 180, CCW],
|
||||
[ -60, CW],
|
||||
[ -60, CCW],
|
||||
]
|
||||
|
||||
octa_x = [
|
||||
[ 22.5, CW],
|
||||
[-157.5, CW],
|
||||
[ 67.5, CCW],
|
||||
[ 157.5, CCW],
|
||||
[ -22.5, CCW],
|
||||
[-112.5, CCW],
|
||||
[ -67.5, CW],
|
||||
[ 112.5, CW],
|
||||
]
|
||||
|
||||
octa_plus = [
|
||||
[ 0, CW],
|
||||
[ 180, CW],
|
||||
[ 45, CCW],
|
||||
[ 135, CCW],
|
||||
[ -45, CCW],
|
||||
[-135, CCW],
|
||||
[ -90, CW],
|
||||
[ 90, CW],
|
||||
]
|
||||
|
||||
octa_cox = [
|
||||
[ 45, CCW],
|
||||
[ -45, CW],
|
||||
[-135, CCW],
|
||||
[ 135, CW],
|
||||
[ -45, CCW],
|
||||
[ 45, CW],
|
||||
[ 135, CCW],
|
||||
[-135, CW],
|
||||
]
|
||||
|
||||
twin_engine = [
|
||||
[ 90, 0.0],
|
||||
[-90, 0.0],
|
||||
]
|
||||
|
||||
def variableName(variable):
|
||||
for variableName, value in list(globals().iteritems()):
|
||||
if value is variable:
|
||||
return variableName
|
||||
|
||||
tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
|
||||
|
||||
|
||||
set quad_x {
|
||||
45 CCW
|
||||
-135 CCW
|
||||
-45 CW
|
||||
135 CW
|
||||
}
|
||||
def printEnum():
|
||||
print "enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {"
|
||||
for table in tables:
|
||||
print "\t{},".format(variableName(table).upper())
|
||||
|
||||
set quad_plus {
|
||||
90 CCW
|
||||
-90 CCW
|
||||
0 CW
|
||||
180 CW
|
||||
}
|
||||
print "\n\tMAX_GEOMETRY"
|
||||
print "}; // enum class MultirotorGeometry\n"
|
||||
|
||||
set quad_v {
|
||||
18.8 0.4242
|
||||
-18.8 1.0
|
||||
-18.8 -0.4242
|
||||
18.8 -1.0
|
||||
}
|
||||
def printScaleTables():
|
||||
for table in tables:
|
||||
print "const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))
|
||||
for (angle, yawScale) in table:
|
||||
rollScale = rcos(angle + 90)
|
||||
pitchScale = rcos(angle)
|
||||
print "\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)
|
||||
print "};\n"
|
||||
|
||||
def printScaleTablesIndex():
|
||||
print "const MultirotorMixer::Rotor *_config_index[] = {"
|
||||
for table in tables:
|
||||
print "\t&_config_{}[0],".format(variableName(table))
|
||||
print "};\n"
|
||||
|
||||
set quad_wide {
|
||||
68 CCW
|
||||
-129 CCW
|
||||
-68 CW
|
||||
129 CW
|
||||
}
|
||||
|
||||
set hex_x {
|
||||
90 CW
|
||||
-90 CCW
|
||||
-30 CW
|
||||
150 CCW
|
||||
30 CCW
|
||||
-150 CW
|
||||
}
|
||||
def printScaleTablesCounts():
|
||||
print "const unsigned _config_rotor_count[] = {"
|
||||
for table in tables:
|
||||
print "\t{}, /* {} */".format(len(table), variableName(table))
|
||||
print "};\n"
|
||||
|
||||
|
||||
|
||||
set hex_plus {
|
||||
0 CW
|
||||
180 CCW
|
||||
-120 CW
|
||||
60 CCW
|
||||
-60 CCW
|
||||
120 CW
|
||||
}
|
||||
printEnum()
|
||||
|
||||
set hex_cox {
|
||||
60 CW
|
||||
60 CCW
|
||||
180 CW
|
||||
180 CCW
|
||||
-60 CW
|
||||
-60 CCW
|
||||
}
|
||||
print "namespace {"
|
||||
printScaleTables()
|
||||
printScaleTablesIndex()
|
||||
printScaleTablesCounts()
|
||||
|
||||
set octa_x {
|
||||
22.5 CW
|
||||
-157.5 CW
|
||||
67.5 CCW
|
||||
157.5 CCW
|
||||
-22.5 CCW
|
||||
-112.5 CCW
|
||||
-67.5 CW
|
||||
112.5 CW
|
||||
}
|
||||
|
||||
set octa_plus {
|
||||
0 CW
|
||||
180 CW
|
||||
45 CCW
|
||||
135 CCW
|
||||
-45 CCW
|
||||
-135 CCW
|
||||
-90 CW
|
||||
90 CW
|
||||
}
|
||||
|
||||
set octa_cox {
|
||||
45 CCW
|
||||
-45 CW
|
||||
-135 CCW
|
||||
135 CW
|
||||
-45 CCW
|
||||
45 CW
|
||||
135 CCW
|
||||
-135 CW
|
||||
}
|
||||
|
||||
set twin_engine {
|
||||
90 0.0
|
||||
-90 0.0
|
||||
}
|
||||
|
||||
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}
|
||||
|
||||
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
|
||||
|
||||
foreach table $tables {
|
||||
puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
|
||||
|
||||
upvar #0 $table angles
|
||||
foreach {angle dir} $angles {
|
||||
if {$dir == "CW"} {
|
||||
set dd -1.0
|
||||
} elseif {$dir == "CCW"} {
|
||||
set dd 1.0
|
||||
} else {
|
||||
set dd $dir
|
||||
}
|
||||
factors $angle $dd
|
||||
}
|
||||
puts "};"
|
||||
}
|
||||
|
||||
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {"
|
||||
foreach table $tables {
|
||||
puts [format "\t&_config_%s\[0\]," $table]
|
||||
}
|
||||
puts "};"
|
||||
|
||||
puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {"
|
||||
foreach table $tables {
|
||||
upvar #0 $table angles
|
||||
puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
|
||||
}
|
||||
puts "};"
|
||||
print "} // anonymous namespace\n"
|
||||
print "#endif /* _MIXER_MULTI_TABLES */"
|
||||
print ""
|
||||
|
|
|
|||
|
|
@ -0,0 +1,43 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 Anton Matosov <anton.matosov@gmail.com>. 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
|
||||
# Add explicit dependency, as implicit one doesn't work often.
|
||||
$(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h
|
||||
|
||||
$(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables
|
||||
$(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h
|
||||
$(SELF_DIR)multi_tables
|
||||
|
||||
|
|
@ -19,6 +19,16 @@ function(add_gtest)
|
|||
endforeach()
|
||||
endfunction()
|
||||
|
||||
include(CheckCXXCompilerFlag)
|
||||
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
|
||||
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
|
||||
if(COMPILER_SUPPORTS_CXX11)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
||||
elseif(COMPILER_SUPPORTS_CXX0X)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
|
||||
else()
|
||||
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
|
||||
endif()
|
||||
|
||||
# add each test
|
||||
# todo: add mixer_test sbus2_test st24_test sf0x_test
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
|
||||
CC=g++
|
||||
CC=$(CXX)
|
||||
CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
|
||||
-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
|
||||
-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm -std=c++11
|
||||
|
||||
# Points to the root of Google Test, relative to where this file is.
|
||||
# Remember to tweak this if you move this file.
|
||||
|
|
@ -53,6 +53,8 @@ MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
|
|||
hrt.cpp \
|
||||
mixer_test.cpp
|
||||
|
||||
include ../src/modules/systemlib/mixer/multi_tables.mk
|
||||
|
||||
SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
|
||||
hrt.cpp \
|
||||
sbus2_test.cpp
|
||||
|
|
|
|||
Loading…
Reference in New Issue