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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-06 15:55:28 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-06 15:55:28 +0100 |
commit | d5906b1658c697020f31f49df9acbc6d6d721385 (patch) | |
tree | 6df255f9e5fe2768cfb5bac112821dc4abe551e2 /src/modules/systemlib/mixer/multi_tables | |
parent | 6a2c0e83d51d98e9484e25bd7ecf24fd451bcf9e (diff) | |
parent | c1161d4e89eb7922b64578826de4b7a3a84ef362 (diff) | |
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Merge branch 'master' of github.com:PX4/Firmware into nuttx_bringup
Diffstat (limited to 'src/modules/systemlib/mixer/multi_tables')
-rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 135 |
1 files changed, 0 insertions, 135 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables deleted file mode 100755 index bdb62f812..000000000 --- a/src/modules/systemlib/mixer/multi_tables +++ /dev/null @@ -1,135 +0,0 @@ -#!/usr/bin/tclsh -# -# Generate multirotor mixer scale tables compatible with the ArduCopter layout -# - -proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) } -proc rcos {a} { expr cos([rad $a])} - - -set quad_x { - 45 CCW - -135 CCW - -45 CW - 135 CW -} - -set quad_plus { - 90 CCW - -90 CCW - 0 CW - 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 - -129 CCW - -68 CW - 129 CW -} - -set hex_x { - 90 CW - -90 CCW - -30 CW - 150 CCW - 30 CCW - -150 CW -} - -set hex_plus { - 0 CW - 180 CCW - -120 CW - 60 CCW - -60 CCW - 120 CW -} - -set hex_cox { - 60 CW - 60 CCW - 180 CW - 180 CCW - -60 CW - -60 CCW -} - -set octa_x { - 22.5 CW - -157.5 CW - 67.5 CCW - 157.5 CCW - -22.5 CCW - -112.5 CCW - -67.5 CW - 112.5 CW -} - -set octa_plus { - 0 CW - 180 CW - 45 CCW - 135 CCW - -45 CCW - -135 CCW - -90 CW - 90 CW -} - -set octa_cox { - 45 CCW - -45 CW - -135 CCW - 135 CW - -45 CCW - 45 CW - 135 CCW - -135 CW -} - -set twin_engine { - 90 0.0 - -90 0.0 -} - -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, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]} - -foreach table $tables { - puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] - - upvar #0 $table angles - foreach {angle dir} $angles { - if {$dir == "CW"} { - set dd -1.0 - } elseif {$dir == "CCW"} { - set dd 1.0 - } else { - set dd $dir - } - factors $angle $dd - } - puts "};" -} - -puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {" -foreach table $tables { - puts [format "\t&_config_%s\[0\]," $table] -} -puts "};" - -puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {" -foreach table $tables { - upvar #0 $table angles - puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table] -} -puts "};" |