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| author | Simon Wilks <sjwilks@gmail.com> | 2013-04-25 08:59:48 +0200 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-04-25 08:59:48 +0200 |
| commit | 9da16afcc2985503523460c4629343a556ef40d7 (patch) | |
| tree | 10488305d8022d41f71b5a51282d8eb222fe47da /apps/systemlib/mixer/multi_tables | |
| parent | d62058eccf7d3801a752aac11fb2c37f198a239c (diff) | |
| download | px4-firmware-9da16afcc2985503523460c4629343a556ef40d7.tar.gz px4-firmware-9da16afcc2985503523460c4629343a556ef40d7.tar.bz2 px4-firmware-9da16afcc2985503523460c4629343a556ef40d7.zip | |
Add support for V for quads with offset arms such as the TBS and SteadiDrone QU4D
Diffstat (limited to 'apps/systemlib/mixer/multi_tables')
| -rwxr-xr-x | apps/systemlib/mixer/multi_tables | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables index f17ae30ca..0c5689143 100755 --- a/apps/systemlib/mixer/multi_tables +++ b/apps/systemlib/mixer/multi_tables @@ -20,6 +20,13 @@ set quad_plus { 180 CW } +set quad_v { + 62 CCW + -133 CCW + -62 CW + 133 CW +} + set hex_x { 90 CW -90 CCW @@ -60,7 +67,7 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus} +set tables {quad_x quad_plus quad_v 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]]} |