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#!/usr/bin/tclsh
#
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
#
proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
proc rcos {a} { expr cos([rad $a])}
set quad_x {
45 CCW
-135 CCW
-45 CW
135 CW
}
set quad_plus {
90 CCW
-90 CCW
0 CW
180 CW
}
set quad_v {
68 CCW
-136 CCW
-68 CW
136 CW
}
set quad_wide {
68 CCW
-129 CCW
-68 CW
129 CW
}
set hex_x {
90 CW
-90 CCW
-30 CW
150 CCW
30 CCW
-150 CW
}
set hex_plus {
0 CW
180 CCW
-120 CW
60 CCW
-60 CCW
120 CW
}
set octa_x {
22.5 CW
-157.5 CW
67.5 CCW
157.5 CCW
-22.5 CCW
-112.5 CCW
-67.5 CW
112.5 CW
}
set octa_plus {
0 CW
180 CW
45 CCW
135 CCW
-45 CCW
-135 CCW
-90 CW
90 CW
}
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]]}
foreach table $tables {
puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
upvar #0 $table angles
foreach {angle dir} $angles {
if {$dir == "CW"} {
set dd 1.0
} else {
set dd -1.0
}
factors $angle $dd
}
puts "};"
}
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
foreach table $tables {
puts [format "\t&_config_%s\[0\]," $table]
}
puts "};"
puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
foreach table $tables {
upvar #0 $table angles
puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
}
puts "};"
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