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| author | runepx4 <runepx4@gmail.com> | 2013-10-31 10:23:37 +0100 |
|---|---|---|
| committer | runepx4 <runepx4@gmail.com> | 2013-10-31 10:23:58 +0100 |
| commit | eac640739b8eb63343e01566d4c093179e3b657f (patch) | |
| tree | a559be240d4f98bb94759197b580fb70ab680203 /src/modules/systemlib/mixer | |
| parent | 7d443eb3325cfff469c88864fdc96b68612d36c0 (diff) | |
| download | px4-firmware-eac640739b8eb63343e01566d4c093179e3b657f.tar.gz px4-firmware-eac640739b8eb63343e01566d4c093179e3b657f.tar.bz2 px4-firmware-eac640739b8eb63343e01566d4c093179e3b657f.zip | |
Added 8 rotor Coaxial Rotor mixer
Diffstat (limited to 'src/modules/systemlib/mixer')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 1 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 15 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 13 |
3 files changed, 28 insertions, 1 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 723bf9f3b..1c889a811 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -449,6 +449,7 @@ public: HEX_PLUS, /**< hex in + configuration */ OCTA_X, OCTA_PLUS, + OCTA_COX, MAX_GEOMETRY }; diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index b89f341b6..bf77795d5 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -130,6 +130,16 @@ const MultirotorMixer::Rotor _config_octa_plus[] = { { 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], @@ -139,6 +149,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_hex_plus[0], &_config_octa_x[0], &_config_octa_plus[0], + &_config_octa_cox[0], }; const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_x */ @@ -149,6 +160,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 6, /* hex_plus */ 8, /* octa_x */ 8, /* octa_plus */ + 8, /* octa_cox */ }; } @@ -240,6 +252,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "8x")) { geometry = MultirotorMixer::OCTA_X; + + } else if (!strcmp(geomname, "8c")) { + geometry = MultirotorMixer::OCTA_COX; } else { debug("unrecognised geometry '%s'", geomname); diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 683c63040..050bf2f47 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -74,7 +74,18 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus} +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 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]]} |