forked from Archive/PX4-Autopilot
Lorenz Meier
commit
88d7c4e447
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@ -40,3 +40,4 @@ tags
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*.orig
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*.orig
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Firmware.zip
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Firmware.zip
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unittests/build
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unittests/build
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*.generated.h
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@ -4,7 +4,10 @@
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language: cpp
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language: cpp
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before_script:
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before_script:
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- sudo apt-get update -q
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- sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test
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- sudo apt-get update -qq
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- if [ "$CXX" = "g++" ]; then sudo apt-get install -qq g++-4.8 gcc-4.8 libstdc++-4.8-dev; fi
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- if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
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# Travis specific tools
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# Travis specific tools
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- sudo apt-get install s3cmd grep zip mailutils
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- sudo apt-get install s3cmd grep zip mailutils
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# General toolchain dependencies
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# General toolchain dependencies
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@ -39,6 +42,7 @@ script:
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- arm-none-eabi-gcc --version
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- arm-none-eabi-gcc --version
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- echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
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- echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
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- make tests
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- make tests
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- cat src/modules/systemlib/mixer/mixer_multirotor.generated.h
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- echo -en 'travis_fold:end:script.1\\r'
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- echo -en 'travis_fold:end:script.1\\r'
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- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
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- echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
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- make archives
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- make archives
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@ -1,5 +1,4 @@
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SRCS = adc.c \
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SRCS = adc.c \
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controls.c \
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controls.c \
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dsm.c \
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dsm.c \
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@ -24,3 +23,7 @@ ifeq ($(BOARD),px4io-v2)
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SRCS += serial.c \
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SRCS += serial.c \
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../systemlib/hx_stream.c
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../systemlib/hx_stream.c
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endif
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endif
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SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
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include $(SELF_DIR)../systemlib/mixer/multi_tables.mk
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@ -441,6 +441,15 @@ private:
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SimpleMixer operator=(const SimpleMixer&);
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SimpleMixer operator=(const SimpleMixer&);
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};
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};
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/**
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* Supported multirotor geometries.
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*
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* Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
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*/
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typedef unsigned int MultirotorGeometryUnderlyingType;
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enum class MultirotorGeometry : MultirotorGeometryUnderlyingType;
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/**
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/**
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* Multi-rotor mixer for pre-defined vehicle geometries.
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* Multi-rotor mixer for pre-defined vehicle geometries.
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*
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*
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@ -450,27 +459,6 @@ private:
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class __EXPORT MultirotorMixer : public Mixer
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class __EXPORT MultirotorMixer : public Mixer
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{
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{
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public:
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public:
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/**
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* Supported multirotor geometries.
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*
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* XXX add more
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*/
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enum Geometry {
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QUAD_X = 0, /**< quad in X configuration */
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QUAD_PLUS, /**< quad in + configuration */
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QUAD_V, /**< quad in V configuration */
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QUAD_WIDE, /**< quad in wide configuration */
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HEX_X, /**< hex in X configuration */
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HEX_PLUS, /**< hex in + configuration */
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HEX_COX,
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OCTA_X,
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OCTA_PLUS,
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OCTA_COX,
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TWIN_ENGINE, /**< VTOL: one engine on each wing */
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MAX_GEOMETRY
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};
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/**
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/**
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* Precalculated rotor mix.
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* Precalculated rotor mix.
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*/
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*/
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@ -498,7 +486,7 @@ public:
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*/
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*/
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MultirotorMixer(ControlCallback control_cb,
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MultirotorMixer(ControlCallback control_cb,
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uintptr_t cb_handle,
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uintptr_t cb_handle,
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Geometry geometry,
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MultirotorGeometry geometry,
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float roll_scale,
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float roll_scale,
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float pitch_scale,
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float pitch_scale,
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float yaw_scale,
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float yaw_scale,
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@ -55,6 +55,9 @@
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#include "mixer.h"
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#include "mixer.h"
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// This file is generated by the multi_tables script which is invoked during the build process
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#include "mixer_multirotor.generated.h"
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#define debug(fmt, args...) do { } while(0)
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#define debug(fmt, args...) do { } while(0)
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//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
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//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
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//#include <debug.h>
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//#include <debug.h>
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@ -72,125 +75,11 @@ float constrain(float val, float min, float max)
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{
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{
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return (val < min) ? min : ((val > max) ? max : val);
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return (val < min) ? min : ((val > max) ? max : val);
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}
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}
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/*
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* These tables automatically generated by multi_tables - do not edit.
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*/
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const MultirotorMixer::Rotor _config_quad_x[] = {
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{ -0.707107, 0.707107, 1.000000 },
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{ 0.707107, -0.707107, 1.000000 },
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{ 0.707107, 0.707107, -1.000000 },
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{ -0.707107, -0.707107, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_quad_plus[] = {
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{ -1.000000, 0.000000, 1.000000 },
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{ 1.000000, 0.000000, 1.000000 },
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{ 0.000000, 1.000000, -1.000000 },
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{ -0.000000, -1.000000, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_quad_v[] = {
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{ -0.322266, 0.946649, 0.424200 },
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{ 0.322266, 0.946649, 1.000000 },
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{ 0.322266, 0.946649, -0.424200 },
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{ -0.322266, 0.946649, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_quad_wide[] = {
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{ -0.927184, 0.374607, 1.000000 },
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{ 0.777146, -0.629320, 1.000000 },
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{ 0.927184, 0.374607, -1.000000 },
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{ -0.777146, -0.629320, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_hex_x[] = {
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{ -1.000000, 0.000000, -1.000000 },
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{ 1.000000, 0.000000, 1.000000 },
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{ 0.500000, 0.866025, -1.000000 },
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{ -0.500000, -0.866025, 1.000000 },
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{ -0.500000, 0.866025, 1.000000 },
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{ 0.500000, -0.866025, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_hex_plus[] = {
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{ 0.000000, 1.000000, -1.000000 },
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{ -0.000000, -1.000000, 1.000000 },
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{ 0.866025, -0.500000, -1.000000 },
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{ -0.866025, 0.500000, 1.000000 },
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{ 0.866025, 0.500000, 1.000000 },
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{ -0.866025, -0.500000, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_hex_cox[] = {
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{ -0.866025, 0.500000, -1.000000 },
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{ -0.866025, 0.500000, 1.000000 },
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{ -0.000000, -1.000000, -1.000000 },
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{ -0.000000, -1.000000, 1.000000 },
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{ 0.866025, 0.500000, -1.000000 },
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{ 0.866025, 0.500000, 1.000000 },
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};
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const MultirotorMixer::Rotor _config_octa_x[] = {
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{ -0.382683, 0.923880, -1.000000 },
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{ 0.382683, -0.923880, -1.000000 },
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{ -0.923880, 0.382683, 1.000000 },
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{ -0.382683, -0.923880, 1.000000 },
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{ 0.382683, 0.923880, 1.000000 },
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{ 0.923880, -0.382683, 1.000000 },
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{ 0.923880, 0.382683, -1.000000 },
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{ -0.923880, -0.382683, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_octa_plus[] = {
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{ 0.000000, 1.000000, -1.000000 },
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{ -0.000000, -1.000000, -1.000000 },
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{ -0.707107, 0.707107, 1.000000 },
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{ -0.707107, -0.707107, 1.000000 },
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{ 0.707107, 0.707107, 1.000000 },
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{ 0.707107, -0.707107, 1.000000 },
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{ 1.000000, 0.000000, -1.000000 },
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{ -1.000000, 0.000000, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_octa_cox[] = {
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{ -0.707107, 0.707107, 1.000000 },
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{ 0.707107, 0.707107, -1.000000 },
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{ 0.707107, -0.707107, 1.000000 },
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{ -0.707107, -0.707107, -1.000000 },
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{ 0.707107, 0.707107, 1.000000 },
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{ -0.707107, 0.707107, -1.000000 },
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{ -0.707107, -0.707107, 1.000000 },
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{ 0.707107, -0.707107, -1.000000 },
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};
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const MultirotorMixer::Rotor _config_twin_engine[] = {
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{ -1.000000, 0.000000, 0.000000 },
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{ 1.000000, 0.000000, 0.000000 },
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};
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const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
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&_config_quad_x[0],
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&_config_quad_plus[0],
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&_config_quad_v[0],
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&_config_quad_wide[0],
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&_config_hex_x[0],
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&_config_hex_plus[0],
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&_config_hex_cox[0],
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&_config_octa_x[0],
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&_config_octa_plus[0],
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&_config_octa_cox[0],
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&_config_twin_engine[0],
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};
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const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
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4, /* quad_x */
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4, /* quad_plus */
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4, /* quad_v */
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4, /* quad_wide */
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6, /* hex_x */
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6, /* hex_plus */
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6, /* hex_cox */
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8, /* octa_x */
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8, /* octa_plus */
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8, /* octa_cox */
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2, /* twin_engine */
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};
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}
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}
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MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
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MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
|
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uintptr_t cb_handle,
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uintptr_t cb_handle,
|
||||||
Geometry geometry,
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MultirotorGeometry geometry,
|
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float roll_scale,
|
float roll_scale,
|
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float pitch_scale,
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float pitch_scale,
|
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float yaw_scale,
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float yaw_scale,
|
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|
@ -200,8 +89,8 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
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_pitch_scale(pitch_scale),
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_pitch_scale(pitch_scale),
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_yaw_scale(yaw_scale),
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_yaw_scale(yaw_scale),
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_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
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_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
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_rotor_count(_config_rotor_count[geometry]),
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_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
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_rotors(_config_index[geometry])
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_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
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{
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{
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}
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}
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@ -212,7 +101,7 @@ MultirotorMixer::~MultirotorMixer()
|
||||||
MultirotorMixer *
|
MultirotorMixer *
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MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
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MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
|
||||||
{
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{
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MultirotorMixer::Geometry geometry;
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MultirotorGeometry geometry;
|
||||||
char geomname[8];
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char geomname[8];
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int s[4];
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int s[4];
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int used;
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int used;
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||||||
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|
@ -252,37 +141,37 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
|
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debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
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debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
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|
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if (!strcmp(geomname, "4+")) {
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if (!strcmp(geomname, "4+")) {
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geometry = MultirotorMixer::QUAD_PLUS;
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geometry = MultirotorGeometry::QUAD_PLUS;
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} else if (!strcmp(geomname, "4x")) {
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} else if (!strcmp(geomname, "4x")) {
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geometry = MultirotorMixer::QUAD_X;
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geometry = MultirotorGeometry::QUAD_X;
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} else if (!strcmp(geomname, "4v")) {
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} else if (!strcmp(geomname, "4v")) {
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geometry = MultirotorMixer::QUAD_V;
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geometry = MultirotorGeometry::QUAD_V;
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||||||
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|
||||||
} else if (!strcmp(geomname, "4w")) {
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} else if (!strcmp(geomname, "4w")) {
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geometry = MultirotorMixer::QUAD_WIDE;
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geometry = MultirotorGeometry::QUAD_WIDE;
|
||||||
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||||||
} else if (!strcmp(geomname, "6+")) {
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} else if (!strcmp(geomname, "6+")) {
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geometry = MultirotorMixer::HEX_PLUS;
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geometry = MultirotorGeometry::HEX_PLUS;
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||||||
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|
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} else if (!strcmp(geomname, "6x")) {
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} else if (!strcmp(geomname, "6x")) {
|
||||||
geometry = MultirotorMixer::HEX_X;
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geometry = MultirotorGeometry::HEX_X;
|
||||||
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|
||||||
} else if (!strcmp(geomname, "6c")) {
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} else if (!strcmp(geomname, "6c")) {
|
||||||
geometry = MultirotorMixer::HEX_COX;
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geometry = MultirotorGeometry::HEX_COX;
|
||||||
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|
||||||
} else if (!strcmp(geomname, "8+")) {
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} else if (!strcmp(geomname, "8+")) {
|
||||||
geometry = MultirotorMixer::OCTA_PLUS;
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geometry = MultirotorGeometry::OCTA_PLUS;
|
||||||
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|
||||||
} else if (!strcmp(geomname, "8x")) {
|
} else if (!strcmp(geomname, "8x")) {
|
||||||
geometry = MultirotorMixer::OCTA_X;
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geometry = MultirotorGeometry::OCTA_X;
|
||||||
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|
||||||
} else if (!strcmp(geomname, "8c")) {
|
} else if (!strcmp(geomname, "8c")) {
|
||||||
geometry = MultirotorMixer::OCTA_COX;
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geometry = MultirotorGeometry::OCTA_COX;
|
||||||
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|
||||||
} else if (!strcmp(geomname, "2-")) {
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} else if (!strcmp(geomname, "2-")) {
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geometry = MultirotorMixer::TWIN_ENGINE;
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geometry = MultirotorGeometry::TWIN_ENGINE;
|
||||||
} else {
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} else {
|
||||||
debug("unrecognised geometry '%s'", geomname);
|
debug("unrecognised geometry '%s'", geomname);
|
||||||
return nullptr;
|
return nullptr;
|
||||||
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|
|
||||||
|
|
@ -31,13 +31,17 @@
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# mixer library
|
# mixer library
|
||||||
#
|
#
|
||||||
LIBNAME = mixerlib
|
LIBNAME = mixerlib
|
||||||
|
|
||||||
SRCS = mixer.cpp \
|
SRCS = mixer.cpp \
|
||||||
mixer_group.cpp \
|
mixer_group.cpp \
|
||||||
mixer_multirotor.cpp \
|
mixer_multirotor.cpp \
|
||||||
mixer_simple.cpp \
|
mixer_simple.cpp \
|
||||||
mixer_load.c
|
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
|
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
|
||||||
#
|
#
|
||||||
|
|
||||||
proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
|
import math
|
||||||
proc rcos {a} { expr cos([rad $a])}
|
|
||||||
|
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 {
|
def printEnum():
|
||||||
45 CCW
|
print "enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {"
|
||||||
-135 CCW
|
for table in tables:
|
||||||
-45 CW
|
print "\t{},".format(variableName(table).upper())
|
||||||
135 CW
|
|
||||||
}
|
|
||||||
|
|
||||||
set quad_plus {
|
print "\n\tMAX_GEOMETRY"
|
||||||
90 CCW
|
print "}; // enum class MultirotorGeometry\n"
|
||||||
-90 CCW
|
|
||||||
0 CW
|
|
||||||
180 CW
|
|
||||||
}
|
|
||||||
|
|
||||||
set quad_v {
|
def printScaleTables():
|
||||||
18.8 0.4242
|
for table in tables:
|
||||||
-18.8 1.0
|
print "const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))
|
||||||
-18.8 -0.4242
|
for (angle, yawScale) in table:
|
||||||
18.8 -1.0
|
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 {
|
def printScaleTablesCounts():
|
||||||
90 CW
|
print "const unsigned _config_rotor_count[] = {"
|
||||||
-90 CCW
|
for table in tables:
|
||||||
-30 CW
|
print "\t{}, /* {} */".format(len(table), variableName(table))
|
||||||
150 CCW
|
print "};\n"
|
||||||
30 CCW
|
|
||||||
-150 CW
|
|
||||||
}
|
|
||||||
|
|
||||||
set hex_plus {
|
printEnum()
|
||||||
0 CW
|
|
||||||
180 CCW
|
|
||||||
-120 CW
|
|
||||||
60 CCW
|
|
||||||
-60 CCW
|
|
||||||
120 CW
|
|
||||||
}
|
|
||||||
|
|
||||||
set hex_cox {
|
print "namespace {"
|
||||||
60 CW
|
printScaleTables()
|
||||||
60 CCW
|
printScaleTablesIndex()
|
||||||
180 CW
|
printScaleTablesCounts()
|
||||||
180 CCW
|
|
||||||
-60 CW
|
|
||||||
-60 CCW
|
|
||||||
}
|
|
||||||
|
|
||||||
set octa_x {
|
print "} // anonymous namespace\n"
|
||||||
22.5 CW
|
print "#endif /* _MIXER_MULTI_TABLES */"
|
||||||
-157.5 CW
|
print ""
|
||||||
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 "};"
|
|
||||||
|
|
|
||||||
|
|
@ -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
|
||||||
|
$(SELF_DIR)multi_tables
|
||||||
|
|
||||||
|
|
@ -19,6 +19,16 @@ function(add_gtest)
|
||||||
endforeach()
|
endforeach()
|
||||||
endfunction()
|
endfunction()
|
||||||
|
|
||||||
|
include(CheckCXXCompilerFlag)
|
||||||
|
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
|
||||||
|
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
|
||||||
|
if(COMPILER_SUPPORTS_CXX11)
|
||||||
|
set(CMAKE_CXX_FLAGS "${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 ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
|
||||||
|
endif()
|
||||||
|
|
||||||
# add each test
|
# add each test
|
||||||
# todo: add mixer_test sbus2_test st24_test sf0x_test
|
# todo: add mixer_test sbus2_test st24_test sf0x_test
|
||||||
|
|
|
||||||
|
|
@ -1,7 +1,7 @@
|
||||||
|
|
||||||
CC=g++
|
CC=$(CXX)
|
||||||
CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
|
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.
|
# Points to the root of Google Test, relative to where this file is.
|
||||||
# Remember to tweak this if you move this file.
|
# Remember to tweak this if you move this file.
|
||||||
|
|
@ -53,6 +53,8 @@ MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
|
||||||
hrt.cpp \
|
hrt.cpp \
|
||||||
mixer_test.cpp
|
mixer_test.cpp
|
||||||
|
|
||||||
|
include ../src/modules/systemlib/mixer/multi_tables.mk
|
||||||
|
|
||||||
SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
|
SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
|
||||||
hrt.cpp \
|
hrt.cpp \
|
||||||
sbus2_test.cpp
|
sbus2_test.cpp
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue