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)

1 files changed, 17 insertions, 4 deletions

diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
index 21c0affd9..ba59e0536 100755
--- a/src/modules/systemlib/mixer/multi_tables.py
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -69,6 +69,13 @@ quad_plus = [
     [ 180, CW],
 ]
 
+quad_deadcat = [
+    [  63, CCW, 1.0],
+    [-135, CCW, 0.964],
+    [ -63, CW, 1.0],
+    [ 135, CW, 0.964],
+]
+
 quad_v = [
     [  18.8, 0.4242],
     [ -18.8, 1.0],
@@ -148,13 +155,18 @@ twin_engine = [
     [-90, 0.0],
 ]
 
+
+tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
+
 def variableName(variable):
     for variableName, value in list(globals().items()):
         if value is variable:
             return variableName
 
-tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
-
+def unpackScales(scalesList):
+    if len(scalesList) == 2:
+        scalesList += [1.0] #Add thrust scale
+    return scalesList
 
 def printEnum():
     print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
@@ -167,10 +179,11 @@ def printEnum():
 def printScaleTables():
     for table in tables:
         print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
-        for (angle, yawScale) in table:
+        for row in table:
+            angle, yawScale, thrustScale = unpackScales(row)
             rollScale = rcos(angle + 90)
             pitchScale = rcos(angle)
-            print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
+            print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
         print("};\n")
 
 def printScaleTablesIndex():