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| author | Julian Oes <joes@student.ethz.ch> | 2013-01-02 13:29:33 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-01-02 13:29:33 -0800 |
| commit | e4bfd78847283491309328e54acc3ffdd4073712 (patch) | |
| tree | e1e35b3e03d710891f4e2853be29cbdbb8e2607d /apps/systemlib/mixer/mixer_multirotor.cpp | |
| parent | c08135ffefcb171fd518e210b88e7e993361fd81 (diff) | |
| download | px4-firmware-e4bfd78847283491309328e54acc3ffdd4073712.tar.gz px4-firmware-e4bfd78847283491309328e54acc3ffdd4073712.tar.bz2 px4-firmware-e4bfd78847283491309328e54acc3ffdd4073712.zip | |
Attention: flipped the yaw direction of multirotors in order to be compatible to APM
Diffstat (limited to 'apps/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 75 |
1 files changed, 36 insertions, 39 deletions
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index b5b25e532..e293b1a2f 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -54,9 +54,6 @@ #include "mixer.h" -#define CW (-1.0f) -#define CCW (1.0f) - namespace { @@ -64,52 +61,52 @@ namespace * These tables automatically generated by multi_tables - do not edit. */ const MultirotorMixer::Rotor _config_quad_x[] = { - { -0.707107, 0.707107, -1.00 }, - { 0.707107, -0.707107, -1.00 }, - { 0.707107, 0.707107, 1.00 }, - { -0.707107, -0.707107, 1.00 }, + { -0.707107, 0.707107, 1.00 }, + { 0.707107, -0.707107, 1.00 }, + { 0.707107, 0.707107, -1.00 }, + { -0.707107, -0.707107, -1.00 }, }; const MultirotorMixer::Rotor _config_quad_plus[] = { - { -1.000000, 0.000000, -1.00 }, - { 1.000000, 0.000000, -1.00 }, - { 0.000000, 1.000000, 1.00 }, - { -0.000000, -1.000000, 1.00 }, + { -1.000000, 0.000000, 1.00 }, + { 1.000000, 0.000000, 1.00 }, + { 0.000000, 1.000000, -1.00 }, + { -0.000000, -1.000000, -1.00 }, }; const MultirotorMixer::Rotor _config_hex_x[] = { - { -1.000000, 0.000000, 1.00 }, - { 1.000000, 0.000000, -1.00 }, - { 0.500000, 0.866025, 1.00 }, - { -0.500000, -0.866025, -1.00 }, - { -0.500000, 0.866025, -1.00 }, - { 0.500000, -0.866025, 1.00 }, + { -1.000000, 0.000000, -1.00 }, + { 1.000000, 0.000000, 1.00 }, + { 0.500000, 0.866025, -1.00 }, + { -0.500000, -0.866025, 1.00 }, + { -0.500000, 0.866025, 1.00 }, + { 0.500000, -0.866025, -1.00 }, }; const MultirotorMixer::Rotor _config_hex_plus[] = { - { 0.000000, 1.000000, 1.00 }, - { -0.000000, -1.000000, -1.00 }, - { 0.866025, -0.500000, 1.00 }, - { -0.866025, 0.500000, -1.00 }, - { 0.866025, 0.500000, -1.00 }, - { -0.866025, -0.500000, 1.00 }, + { 0.000000, 1.000000, -1.00 }, + { -0.000000, -1.000000, 1.00 }, + { 0.866025, -0.500000, -1.00 }, + { -0.866025, 0.500000, 1.00 }, + { 0.866025, 0.500000, 1.00 }, + { -0.866025, -0.500000, -1.00 }, }; const MultirotorMixer::Rotor _config_octa_x[] = { - { -0.382683, 0.923880, 1.00 }, - { 0.382683, -0.923880, 1.00 }, - { -0.923880, 0.382683, -1.00 }, - { -0.382683, -0.923880, -1.00 }, - { 0.382683, 0.923880, -1.00 }, - { 0.923880, -0.382683, -1.00 }, - { 0.923880, 0.382683, 1.00 }, - { -0.923880, -0.382683, 1.00 }, + { -0.382683, 0.923880, -1.00 }, + { 0.382683, -0.923880, -1.00 }, + { -0.923880, 0.382683, 1.00 }, + { -0.382683, -0.923880, 1.00 }, + { 0.382683, 0.923880, 1.00 }, + { 0.923880, -0.382683, 1.00 }, + { 0.923880, 0.382683, -1.00 }, + { -0.923880, -0.382683, -1.00 }, }; const MultirotorMixer::Rotor _config_octa_plus[] = { - { 0.000000, 1.000000, 1.00 }, - { -0.000000, -1.000000, 1.00 }, - { -0.707107, 0.707107, -1.00 }, - { -0.707107, -0.707107, -1.00 }, - { 0.707107, 0.707107, -1.00 }, - { 0.707107, -0.707107, -1.00 }, - { 1.000000, 0.000000, 1.00 }, - { -1.000000, 0.000000, 1.00 }, + { 0.000000, 1.000000, -1.00 }, + { -0.000000, -1.000000, -1.00 }, + { -0.707107, 0.707107, 1.00 }, + { -0.707107, -0.707107, 1.00 }, + { 0.707107, 0.707107, 1.00 }, + { 0.707107, -0.707107, 1.00 }, + { 1.000000, 0.000000, -1.00 }, + { -1.000000, 0.000000, -1.00 }, }; const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = { &_config_quad_x[0], |