Merge pull request #504 from Runepx4/master

Added 8 rotor Coaxial Rotor mixer

ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix

@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a Coaxial Octocopter in the X configuration.  All controls 
+are mixed 100%.
+
+R: 8c 10000 10000 10000 0

src/modules/systemlib/mixer/mixer.h

@@ -449,6 +449,7 @@ public:
 		HEX_PLUS,	/**< hex in + configuration */
 		OCTA_X,
 		OCTA_PLUS,
+		OCTA_COX,
 
 		MAX_GEOMETRY
 	};

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -130,6 +130,16 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 	{  1.000000,  0.000000, -1.00 },
 	{ -1.000000,  0.000000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_octa_cox[] = {
+	{ -0.707107,  0.707107,  1.00 },
+	{  0.707107,  0.707107, -1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{ -0.707107, -0.707107, -1.00 },
+	{  0.707107,  0.707107,  1.00 },
+	{ -0.707107,  0.707107, -1.00 },
+	{ -0.707107, -0.707107,  1.00 },
+	{  0.707107, -0.707107, -1.00 },
+};
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
@@ -139,6 +149,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_hex_plus[0],
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
+	&_config_octa_cox[0],
 };
 const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */
@@ -149,6 +160,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	6, /* hex_plus */
 	8, /* octa_x */
 	8, /* octa_plus */
+	8, /* octa_cox */
 };
 
 }
@@ -241,6 +253,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "8x")) {
 		geometry = MultirotorMixer::OCTA_X;
 		
+	} else if (!strcmp(geomname, "8c")) {
+		geometry = MultirotorMixer::OCTA_COX;
+
 	} else {
 		debug("unrecognised geometry '%s'", geomname);
 		return nullptr;

src/modules/systemlib/mixer/multi_tables

@@ -74,7 +74,18 @@ set octa_plus {
 	  90 CW
 }
 
-set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus}
+set octa_cox {
+	  45 CCW
+	 -45 CW
+	-135 CCW
+	 135 CW
+	 -45 CCW
+	  45 CW
+	 135 CCW
+	-135 CW
+}
+
+set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}