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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 11:35:56 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-05 11:35:56 +0200 |
| commit | 13110e0a1f4df06f1ba175dd4acb7901a47f9b43 (patch) | |
| tree | 060ab2309c2c5bcc82c2396ecff9e3d5e18a8fb8 /src/modules/systemlib/mixer/mixer_multirotor.cpp | |
| parent | 8c6abe717db1f50c5d4b89f18e27f89608a9a1b8 (diff) | |
| parent | 1dbbdcfa48f8acbf4bed5c160ab3acd0cf293127 (diff) | |
| download | px4-firmware-13110e0a1f4df06f1ba175dd4acb7901a47f9b43.tar.gz px4-firmware-13110e0a1f4df06f1ba175dd4acb7901a47f9b43.tar.bz2 px4-firmware-13110e0a1f4df06f1ba175dd4acb7901a47f9b43.zip | |
ROMFS wide quad mixer addition and cleanup
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index d79811c0f..8ded0b05c 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = { { 0.927184, 0.374607, -1.00 }, { -0.694658, -0.719340, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_wide[] = { + { -0.927184, 0.374607, 1.00 }, + { 0.777146, -0.629320, 1.00 }, + { 0.927184, 0.374607, -1.00 }, + { -0.777146, -0.629320, -1.00 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME &_config_quad_x[0], &_config_quad_plus[0], &_config_quad_v[0], + &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ 4, /* quad_v */ + 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4v")) { geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "4w")) { + geometry = MultirotorMixer::QUAD_WIDE; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; |