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| author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-06 00:57:54 +0200 |
|---|---|---|
| committer | Anton Matosov <anton.matosov@gmail.com> | 2015-01-08 13:58:46 +0200 |
| commit | 7d528330d570fa4900b1a24c2a1f851c3a7dcba0 (patch) | |
| tree | d2b68ae8cce39e5c47227c7d26b6f8dd92c018c7 /src/modules/systemlib/mixer/mixer.h | |
| parent | aa2a00b56a0be0e20abfa54c311575f9e055f212 (diff) | |
| download | px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.gz px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.tar.bz2 px4-firmware-7d528330d570fa4900b1a24c2a1f851c3a7dcba0.zip | |
Implemented SK450 DeadCat frame support
Implemented the way to specify motor output scale which is required for SK450 DeadCat as it has asymetrical arms (front arms are longer than back ones)
Diffstat (limited to 'src/modules/systemlib/mixer/mixer.h')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 864ce21a5..67ef521b4 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -441,7 +441,6 @@ private: SimpleMixer operator=(const SimpleMixer&); }; - /** * Supported multirotor geometries. * @@ -460,12 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer { public: /** + * Precalculated rotor mix. */ struct Rotor { float roll_scale; /**< scales roll for this rotor */ float pitch_scale; /**< scales pitch for this rotor */ float yaw_scale; /**< scales yaw for this rotor */ + float out_scale; /**< scales total out for this rotor */ }; /** |