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Added a config for quads with a wide arm config.

This commit is contained in:
Simon Wilks 2013-05-02 07:10:23 +02:00
parent d6e9a35aa2
commit ddf1b27697
4 changed files with 22 additions and 2 deletions
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3
ROMFS/Makefile
View File

@ -32,7 +32,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
$(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
$(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
$(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_w.mix \
$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \

1
apps/systemlib/mixer/mixer.h
View File

@ -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
apps/systemlib/mixer/mixer_multirotor.cpp
View File

@ -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
apps/systemlib/mixer/multi_tables
View File

@ -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]]}