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author | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-04-26 19:16:55 -0700 |
commit | 53f6bac327f6a799b9b0dfee368406cce4151a03 (patch) | |
tree | 88db3be11f9198a9d8970644fc447c3e2b7429e7 /apps/systemlib/mixer/mixer_multirotor.cpp | |
parent | 01e427b17c161d8adaa38d6bdb91aecb434451f2 (diff) | |
parent | 72aaa0f7f2dee98a572ad812157fd6781a52cc90 (diff) | |
download | px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.gz px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.tar.bz2 px4-firmware-53f6bac327f6a799b9b0dfee368406cce4151a03.zip |
Merge branch 'master' into export-build
Clean up some script trash and update scripts.
Diffstat (limited to 'apps/systemlib/mixer/mixer_multirotor.cpp')
-rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index 4b9cfc023..d79811c0f 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = { { 0.000000, 1.000000, -1.00 }, { -0.000000, -1.000000, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_v[] = { + { -0.927184, 0.374607, 1.00 }, + { 0.694658, -0.719340, 1.00 }, + { 0.927184, 0.374607, -1.00 }, + { -0.694658, -0.719340, -1.00 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = { const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = { &_config_quad_x[0], &_config_quad_plus[0], + &_config_quad_v[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ + 4, /* quad_v */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4x")) { geometry = MultirotorMixer::QUAD_X; + } else if (!strcmp(geomname, "4v")) { + geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; |