diff options
Diffstat (limited to 'src/modules/systemlib/mixer/multi_tables')
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 050bf2f47..b5698036e 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -52,6 +52,15 @@ set hex_plus { 120 CW } +set hex_cox { + 60 CW + 60 CCW + 180 CW + 180 CCW + -60 CW + -60 CCW +} + set octa_x { 22.5 CW -157.5 CW @@ -85,7 +94,7 @@ set octa_cox { -135 CW } -set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox} +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox 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]]} @@ -104,13 +113,13 @@ foreach table $tables { puts "};" } -puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {" +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\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {" +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] |