From ddf1b27697dd5edd8e8282c24ad35cb938dbf3c8 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Thu, 2 May 2013 07:10:23 +0200
Subject: [PATCH] Added a config for quads with a wide arm config.

---
 ROMFS/Makefile                            |  3 ++-
 apps/systemlib/mixer/mixer.h              |  1 +
 apps/systemlib/mixer/mixer_multirotor.cpp | 11 +++++++++++
 apps/systemlib/mixer/multi_tables         |  9 ++++++++-
 4 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 11a4650fa6..ecd15d5e27 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -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 \
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h
index 40d37fce2b..bbfa130a9d 100644
--- a/apps/systemlib/mixer/mixer.h
+++ b/apps/systemlib/mixer/mixer.h
@@ -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,
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index d79811c0ff..8ded0b05c1 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -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;
 
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables
index 19a8239a6d..683c630409 100755
--- a/apps/systemlib/mixer/multi_tables
+++ b/apps/systemlib/mixer/multi_tables
@@ -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]]}