diff options
| author | Trent Lukaczyk <aerialhedgehog@gmail.com> | 2015-02-05 20:18:00 -0800 |
|---|---|---|
| committer | Trent Lukaczyk <aerialhedgehog@gmail.com> | 2015-02-05 20:18:00 -0800 |
| commit | af8e76ee7ee69131ffb4ff9c5f1e2c6ffe555faa (patch) | |
| tree | a56f3cc22094b3761e9807e71e118bdba8c6ddcc /src/modules/systemlib/mixer | |
| parent | d036fa10c1f26576bac27c130843fac45098b736 (diff) | |
| download | px4-firmware-af8e76ee7ee69131ffb4ff9c5f1e2c6ffe555faa.tar.gz px4-firmware-af8e76ee7ee69131ffb4ff9c5f1e2c6ffe555faa.tar.bz2 px4-firmware-af8e76ee7ee69131ffb4ff9c5f1e2c6ffe555faa.zip | |
tricopter initial commit
Diffstat (limited to 'src/modules/systemlib/mixer')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables.py | 8 |
2 files changed, 11 insertions, 1 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 2ab5b5e8e..b354eb518 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -177,6 +177,10 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "2-")) { geometry = MultirotorGeometry::TWIN_ENGINE; + + } else if (!strcmp(geomname, "3y")) { + geometry = MultirotorGeometry::TRI_Y; + } else { debug("unrecognised geometry '%s'", geomname); return nullptr; diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py index ba59e0536..e01fcaf8f 100755 --- a/src/modules/systemlib/mixer/multi_tables.py +++ b/src/modules/systemlib/mixer/multi_tables.py @@ -155,8 +155,14 @@ twin_engine = [ [-90, 0.0], ] +tri_y = [ + [ 60, 0.0], + [ -60, 0.0], + [ 180, 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] +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, tri_y] def variableName(variable): for variableName, value in list(globals().items()): |