Merge remote-tracking branch 'upstream/master'

6 files changed, 296 insertions, 269 deletions

diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 17989558e..67ef521b4 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -442,6 +442,14 @@ private:
 };
 
 /**
+ * Supported multirotor geometries.
+ *
+ * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
+ */
+typedef unsigned int MultirotorGeometryUnderlyingType;
+enum class MultirotorGeometry : MultirotorGeometryUnderlyingType;
+
+/**
  * Multi-rotor mixer for pre-defined vehicle geometries.
  *
  * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to
@@ -451,32 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer
 {
 public:
 	/**
-	 * Supported multirotor geometries.
-	 *
-	 * XXX add more
-	 */
-	enum Geometry {
-		QUAD_X = 0,	/**< quad in X configuration */
-		QUAD_PLUS,	/**< quad in + configuration */
-		QUAD_V,		/**< quad in V configuration */
-		QUAD_WIDE,	/**< quad in wide configuration */
-		HEX_X,		/**< hex in X configuration */
-		HEX_PLUS,	/**< hex in + configuration */
-		HEX_COX,
-		OCTA_X,
-		OCTA_PLUS,
-		OCTA_COX,
-
-		MAX_GEOMETRY
-	};
 
-	/**
 	 * Precalculated rotor mix.
 	 */
 	struct Rotor {
 		float	roll_scale;	/**< scales roll for this rotor */
 		float	pitch_scale;	/**< scales pitch for this rotor */
 		float	yaw_scale;	/**< scales yaw for this rotor */
+		float	out_scale;	/**< scales total out for this rotor */
 	};
 
 	/**
@@ -497,7 +487,7 @@ public:
 	 */
 	MultirotorMixer(ControlCallback control_cb,
 			uintptr_t cb_handle,
-			Geometry geometry,
+			MultirotorGeometry geometry,
 			float roll_scale,
 			float pitch_scale,
 			float yaw_scale,
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 57e17b67d..2ab5b5e8e 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -55,6 +55,9 @@
 
 #include "mixer.h"
 
+// This file is generated by the multi_tables script which is invoked during the build process
+#include "mixer_multirotor.generated.h"
+
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
@@ -73,117 +76,11 @@ float constrain(float val, float min, float max)
 	return (val < min) ? min : ((val > max) ? max : val);
 }
 
-/*
- * These tables automatically generated by multi_tables - do not edit.
- */
-const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107, -1.00 },
-};
-const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000,  1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-};
-const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.927184,  0.374607,  1.00 },
-	{  0.694658, -0.719340,  1.00 },
-	{  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 },
-	{  0.500000,  0.866025, -1.00 },
-	{ -0.500000, -0.866025,  1.00 },
-	{ -0.500000,  0.866025,  1.00 },
-	{  0.500000, -0.866025, -1.00 },
-};
-const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025, -0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{  0.866025,  0.500000,  1.00 },
-	{ -0.866025, -0.500000, -1.00 },
-};
-const MultirotorMixer::Rotor _config_hex_cox[] = {
-	{ -0.866025,  0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025,  0.500000, -1.00 },
-	{  0.866025,  0.500000,  1.00 },
-};
-const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880, -1.00 },
-	{  0.382683, -0.923880, -1.00 },
-	{ -0.923880,  0.382683,  1.00 },
-	{ -0.382683, -0.923880,  1.00 },
-	{  0.382683,  0.923880,  1.00 },
-	{  0.923880, -0.382683,  1.00 },
-	{  0.923880,  0.382683, -1.00 },
-	{ -0.923880, -0.382683, -1.00 },
-};
-const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.707107,  0.707107,  1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{ -1.000000,  0.000000, -1.00 },
-};
-const MultirotorMixer::Rotor _config_octa_cox[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{ -0.707107, -0.707107, -1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{ -0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107, -0.707107, -1.00 },
-};
-const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
-	&_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_hex_cox[0],
-	&_config_octa_x[0],
-	&_config_octa_plus[0],
-	&_config_octa_cox[0],
-};
-const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
-	4, /* quad_x */
-	4, /* quad_plus */
-	4, /* quad_v */
-	4, /* quad_wide */
-	6, /* hex_x */
-	6, /* hex_plus */
-	6, /* hex_cox */
-	8, /* octa_x */
-	8, /* octa_plus */
-	8, /* octa_cox */
-};
-
-}
+} // anonymous namespace
 
 MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 				 uintptr_t cb_handle,
-				 Geometry geometry,
+				 MultirotorGeometry geometry,
 				 float roll_scale,
 				 float pitch_scale,
 				 float yaw_scale,
@@ -193,8 +90,9 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 	_pitch_scale(pitch_scale),
 	_yaw_scale(yaw_scale),
 	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
-	_rotor_count(_config_rotor_count[geometry]),
-	_rotors(_config_index[geometry])
+	_limits_pub(),
+	_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
+	_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
 {
 }
 
@@ -205,7 +103,7 @@ MultirotorMixer::~MultirotorMixer()
 MultirotorMixer *
 MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
 {
-	MultirotorMixer::Geometry geometry;
+	MultirotorGeometry geometry;
 	char geomname[8];
 	int s[4];
 	int used;
@@ -245,35 +143,40 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
 
 	if (!strcmp(geomname, "4+")) {
-		geometry = MultirotorMixer::QUAD_PLUS;
+		geometry = MultirotorGeometry::QUAD_PLUS;
 
 	} else if (!strcmp(geomname, "4x")) {
-		geometry = MultirotorMixer::QUAD_X;
+		geometry = MultirotorGeometry::QUAD_X;
 
 	} else if (!strcmp(geomname, "4v")) {
-		geometry = MultirotorMixer::QUAD_V;
+		geometry = MultirotorGeometry::QUAD_V;
 
 	} else if (!strcmp(geomname, "4w")) {
-		geometry = MultirotorMixer::QUAD_WIDE;
+		geometry = MultirotorGeometry::QUAD_WIDE;
+
+	} else if (!strcmp(geomname, "4dc")) {
+		geometry = MultirotorGeometry::QUAD_DEADCAT;
 
 	} else if (!strcmp(geomname, "6+")) {
-		geometry = MultirotorMixer::HEX_PLUS;
+		geometry = MultirotorGeometry::HEX_PLUS;
 
 	} else if (!strcmp(geomname, "6x")) {
-		geometry = MultirotorMixer::HEX_X;
+		geometry = MultirotorGeometry::HEX_X;
 
 	} else if (!strcmp(geomname, "6c")) {
-		geometry = MultirotorMixer::HEX_COX;
+		geometry = MultirotorGeometry::HEX_COX;
 
 	} else if (!strcmp(geomname, "8+")) {
-		geometry = MultirotorMixer::OCTA_PLUS;
+		geometry = MultirotorGeometry::OCTA_PLUS;
 
 	} else if (!strcmp(geomname, "8x")) {
-		geometry = MultirotorMixer::OCTA_X;
+		geometry = MultirotorGeometry::OCTA_X;
 		
 	} else if (!strcmp(geomname, "8c")) {
-		geometry = MultirotorMixer::OCTA_COX;
+		geometry = MultirotorGeometry::OCTA_COX;
 
+	} else if (!strcmp(geomname, "2-")) {
+		geometry = MultirotorGeometry::TWIN_ENGINE;
 	} else {
 		debug("unrecognised geometry '%s'", geomname);
 		return nullptr;
@@ -314,6 +217,8 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 			    pitch * _rotors[i].pitch_scale +
 			    thrust;
 
+		out *= _rotors[i].out_scale;
+
 		/* limit yaw if it causes outputs clipping */
 		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
 			yaw = -out / _rotors[i].yaw_scale;
diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk
index fc7485e20..3fd07f5ba 100644
--- a/src/modules/systemlib/mixer/module.mk
+++ b/src/modules/systemlib/mixer/module.mk
@@ -31,13 +31,17 @@
 #
 ############################################################################
 
+
 #
 # mixer library
 #
 LIBNAME	= mixerlib
-
+	
 SRCS		= mixer.cpp \
 		  mixer_group.cpp \
 		  mixer_multirotor.cpp \
 		  mixer_simple.cpp \
 		  mixer_load.c
+
+SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+include $(SELF_DIR)multi_tables.mk
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
deleted file mode 100755
index b5698036e..000000000
--- a/src/modules/systemlib/mixer/multi_tables
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/tclsh
-#
-# Generate multirotor mixer scale tables compatible with the ArduCopter layout
-#
-
-proc rad {a} { expr ($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 {
-	  68 CCW
-	-136 CCW
-	 -68 CW
-	 136 CW
-}
-
-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 tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
-
-proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [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
-		} else {
-			set dd -1.0
-		}
-		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 "};"
diff --git a/src/modules/systemlib/mixer/multi_tables.mk b/src/modules/systemlib/mixer/multi_tables.mk
new file mode 100644
index 000000000..c537c83a4
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2014 Anton Matosov <anton.matosov@gmail.com>. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+MULTI_TABLES := $(SELF_DIR)multi_tables.py
+
+# Add explicit dependency, as implicit one doesn't work often.
+$(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h
+
+$(SELF_DIR)mixer_multirotor.generated.h : $(MULTI_TABLES)
+	$(Q) $(PYTHON) $(MULTI_TABLES) > $(SELF_DIR)mixer_multirotor.generated.h
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
new file mode 100755
index 000000000..ba59e0536
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Generate multirotor mixer scale tables compatible with the ArduCopter layout
+#
+
+# for python2.7 compatibility
+from __future__ import  print_function
+
+import math
+
+print("/*")
+print("* This file is automatically generated by multi_tables - do not edit.")
+print("*/")
+print("")
+print("#ifndef _MIXER_MULTI_TABLES")
+print("#define _MIXER_MULTI_TABLES")
+print("")
+
+def rcos(angleInRadians):
+  return math.cos(math.radians(angleInRadians))
+
+CCW = 1.0
+CW = -CCW
+
+quad_x = [
+    [  45, CCW],
+    [-135, CCW],
+    [-45,  CW],
+    [135,  CW],
+]
+
+quad_plus = [
+    [  90, CCW],
+    [ -90, CCW],
+    [   0, CW],
+    [ 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],
+    [ -18.8, -0.4242],
+    [  18.8, -1.0],
+]
+
+quad_wide = [
+    [   68, CCW],
+    [ -129, CCW],
+    [  -68, CW],
+    [  129, CW],
+]
+
+hex_x = [
+    [  90, CW],
+    [ -90, CCW],
+    [ -30, CW],
+    [ 150, CCW],
+    [  30, CCW],
+    [-150, CW],
+]
+
+hex_plus = [
+    [   0, CW],
+    [ 180, CCW],
+    [-120, CW],
+    [  60, CCW],
+    [ -60, CCW],
+    [ 120, CW],
+]
+
+hex_cox = [
+    [  60, CW],
+    [  60, CCW],
+    [ 180, CW],
+    [ 180, CCW],
+    [ -60, CW],
+    [ -60, CCW],
+]
+
+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],
+]
+
+octa_plus = [
+    [   0, CW],
+    [ 180, CW],
+    [  45, CCW],
+    [ 135, CCW],
+    [ -45, CCW],
+    [-135, CCW],
+    [ -90, CW],
+    [  90, CW],
+]
+
+octa_cox = [
+    [  45, CCW],
+    [ -45, CW],
+    [-135, CCW],
+    [ 135, CW],
+    [ -45, CCW],
+    [  45, CW],
+    [ 135, CCW],
+    [-135, CW],
+]
+
+twin_engine = [
+    [ 90, 0.0],
+    [-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
+
+def unpackScales(scalesList):
+    if len(scalesList) == 2:
+        scalesList += [1.0] #Add thrust scale
+    return scalesList
+
+def printEnum():
+    print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
+    for table in tables:
+        print("\t{},".format(variableName(table).upper()))
+
+    print("\n\tMAX_GEOMETRY")
+    print("}; // enum class MultirotorGeometry\n")
+
+def printScaleTables():
+    for table in tables:
+        print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
+        for row in table:
+            angle, yawScale, thrustScale = unpackScales(row)
+            rollScale = rcos(angle + 90)
+            pitchScale = rcos(angle)
+            print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
+        print("};\n")
+
+def printScaleTablesIndex():
+    print("const MultirotorMixer::Rotor *_config_index[] = {")
+    for table in tables:
+        print("\t&_config_{}[0],".format(variableName(table)))
+    print("};\n")
+
+
+def printScaleTablesCounts():
+    print("const unsigned _config_rotor_count[] = {")
+    for table in tables:
+        print("\t{}, /* {} */".format(len(table), variableName(table)))
+    print("};\n")
+
+
+
+printEnum()
+
+print("namespace {")
+printScaleTables()
+printScaleTablesIndex()
+printScaleTablesCounts()
+
+print("} // anonymous namespace\n")
+print("#endif /* _MIXER_MULTI_TABLES */")
+print("")