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| author | px4dev <px4@purgatory.org> | 2012-09-03 02:45:33 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-09-03 02:45:33 -0700 |
| commit | 0d89da96a3b7ef75de80fe52ee885091cfb173a8 (patch) | |
| tree | 1fe3cd26fb2d2f21386ec0562c6c10e1c6819b19 /apps/systemlib/mixer | |
| parent | b9a5f714760a2bdfa8bfdbce8e39a2ec471b4c12 (diff) | |
| download | px4-firmware-0d89da96a3b7ef75de80fe52ee885091cfb173a8.tar.gz px4-firmware-0d89da96a3b7ef75de80fe52ee885091cfb173a8.tar.bz2 px4-firmware-0d89da96a3b7ef75de80fe52ee885091cfb173a8.zip | |
Adjust the mixer tables for observed yaw sign behavior.
Diffstat (limited to 'apps/systemlib/mixer')
| -rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 72 | ||||
| -rwxr-xr-x | apps/systemlib/mixer/multi_tables | 2 |
2 files changed, 37 insertions, 37 deletions
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index 60b71c60a..7d1605917 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -64,52 +64,52 @@ 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], diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables index 3da1a11ba..2c4a5abed 100755 --- a/apps/systemlib/mixer/multi_tables +++ b/apps/systemlib/mixer/multi_tables @@ -62,7 +62,7 @@ set octa_plus { set tables {quad_x quad_plus 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] $d]} +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] |