path: root/src/modules/systemlib/mixer/multi_tables

#!/usr/bin/tclsh
#
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
#

puts "/*"
puts "* These file is automatically generated by multi_tables - do not edit."
puts "*/"
puts ""

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 {
      18.8 0.4242
     -18.8 1.0
     -18.8 -0.4242
      18.8 -1.0
}

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 hex_cox {
      60 CW
      60 CCW
     180 CW
     180 CCW
     -60 CW
     -60 CCW
}

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 octa_cox {
      45 CCW
     -45 CW
    -135 CCW
     135 CW
     -45 CCW
      45 CW
     135 CCW
    -135 CW
}

set twin_engine {
      90 0.0
     -90 0.0
}


set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}

puts "enum MultirotorMixer::Geometry : unsigned int {"
foreach table $tables {
    puts [format "\t%s," [string toupper $table]]
}
puts "\n\tMAX_GEOMETRY"
puts "}; // enum MultirotorMixer::Geometry\n"


puts "namespace {"

proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [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
        } elseif {$dir == "CCW"} {
            set dd 1.0
        } else {
            set dd $dir
        }
        factors $angle $dd
    }
    puts "};\n"
}

puts "const MultirotorMixer::Rotor *_config_index\[\] = {"
foreach table $tables {
    puts [format "\t&_config_%s\[0\]," $table]
}
puts "};\n"

puts "const unsigned _config_rotor_count\[\] = {"
foreach table $tables {
    upvar #0 $table angles
    puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
}
puts "};\n"

puts "} // anonymous namespace\n"

# Newline at the end of file
puts ""