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| author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-04 18:58:57 +0200 |
|---|---|---|
| committer | Anton Matosov <anton.matosov@gmail.com> | 2015-01-04 19:46:29 +0200 |
| commit | c4471d77d7d6a20709240ab933c32d87ba7c07fd (patch) | |
| tree | 44f01faffe982d8a03bd6559bee01a6f97edfb1f /src/modules/systemlib/mixer/multi_tables | |
| parent | 55741be473e1aafddffbd621ccbbc90e88fbe669 (diff) | |
| download | px4-firmware-c4471d77d7d6a20709240ab933c32d87ba7c07fd.tar.gz px4-firmware-c4471d77d7d6a20709240ab933c32d87ba7c07fd.tar.bz2 px4-firmware-c4471d77d7d6a20709240ab933c32d87ba7c07fd.zip | |
Moved quad_v and twin_engine to the multi_tables in order to make all the tables been generated automatically
Diffstat (limited to 'src/modules/systemlib/mixer/multi_tables')
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 19 |
1 files changed, 14 insertions, 5 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 897834501..bdb62f812 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -21,6 +21,12 @@ set quad_plus { 180 CW } +set quad_v { + 18.8 0.4242 + -18.8 1.0 + -18.8 -0.4242 + 18.8 -1.0 +} set quad_wide { 68 CCW @@ -89,11 +95,14 @@ set octa_cox { -135 CW } +set twin_engine { + 90 0.0 + -90 0.0 +} -set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox} - +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine} -proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} +proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]} foreach table $tables { puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] @@ -101,9 +110,9 @@ foreach table $tables { upvar #0 $table angles foreach {angle dir} $angles { if {$dir == "CW"} { - set dd 1.0 - } else if {$dir == "CCW"} { set dd -1.0 + } elseif {$dir == "CCW"} { + set dd 1.0 } else { set dd $dir } |