forked from Archive/PX4-Autopilot
94 lines
1.4 KiB
Tcl
Executable File
94 lines
1.4 KiB
Tcl
Executable File
#!/usr/bin/tclsh
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#
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# Generate multirotor mixer scale tables compatible with the ArduCopter layout
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#
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proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
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proc rcos {a} { expr cos([rad $a])}
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set quad_x {
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45 CCW
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-135 CCW
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-45 CW
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135 CW
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}
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set quad_plus {
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90 CCW
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-90 CCW
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0 CW
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180 CW
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}
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set hex_x {
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90 CW
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-90 CCW
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-30 CW
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150 CCW
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30 CCW
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-150 CW
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}
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set hex_plus {
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0 CW
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180 CCW
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-120 CW
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60 CCW
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-60 CCW
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120 CW
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}
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set octa_x {
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22.5 CW
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-157.5 CW
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67.5 CCW
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157.5 CCW
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-22.5 CCW
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-112.5 CCW
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-67.5 CW
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112.5 CW
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}
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set octa_plus {
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0 CW
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180 CW
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45 CCW
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135 CCW
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-45 CCW
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-135 CCW
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-90 CW
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90 CW
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}
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set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
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proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
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foreach table $tables {
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puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
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upvar #0 $table angles
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foreach {angle dir} $angles {
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if {$dir == "CW"} {
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set dd -1.0
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} else {
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set dd 1.0
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}
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factors $angle $dd
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}
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puts "};"
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}
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puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
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foreach table $tables {
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puts [format "\t&_config_%s\[0\]," $table]
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}
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puts "};"
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puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
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foreach table $tables {
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upvar #0 $table angles
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puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
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}
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puts "};"
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