Merge branch 'master' of github.com:PX4/Firmware

5 files changed, 207 insertions, 101 deletions

diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 6d56c546a..4962d029d 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -35,7 +35,7 @@
  * @file mavlink_log.h
  * MAVLink text logging.
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
  */
 
 #ifndef MAVLINK_LOG
@@ -99,6 +99,38 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
  */
 #define mavlink_log_info(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
 
+/**
+ * Send a mavlink emergency message and print to console.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_and_console_log_emergency(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "telem> "); \
+									fprintf(stderr, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "\n");
+
+/**
+ * Send a mavlink critical message and print to console.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_and_console_log_critical(_fd, _text, ...)		mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "telem> "); \
+									fprintf(stderr, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "\n");
+
+/**
+ * Send a mavlink emergency message and print to console.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_and_console_log_info(_fd, _text, ...)			mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "telem> "); \
+									fprintf(stderr, _text, ##__VA_ARGS__); \
+									fprintf(stderr, "\n");
 
 struct mavlink_logmessage {
 	char text[MAVLINK_LOG_MAXLEN + 1];
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 89a40d032..6765100c7 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -342,6 +342,8 @@ private:
 	MavlinkStreamStatustext(MavlinkStreamStatustext &);
 	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
 	FILE *fp = nullptr;
+	unsigned write_err_count = 0;
+	static const unsigned write_err_threshold = 5;
 
 protected:
 	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
@@ -370,10 +372,21 @@ protected:
 				/* write log messages in first instance to disk */
 				if (_mavlink->get_instance_id() == 0) {
 					if (fp) {
-						fputs(msg.text, fp);
-						fputs("\n", fp);
-						fsync(fileno(fp));
-					} else {
+						if (EOF == fputs(msg.text, fp)) {
+							write_err_count++;
+						} else {
+							write_err_count = 0;
+						}
+
+						if (write_err_count >= write_err_threshold) {
+							(void)fclose(fp);
+							fp = nullptr;
+						} else {
+							(void)fputs("\n", fp);
+							(void)fsync(fileno(fp));
+						}
+
+					} else if (write_err_count < write_err_threshold) {
 						/* string to hold the path to the log */
 						char log_file_name[32] = "";
 						char log_file_path[64] = "";
@@ -389,6 +402,10 @@ protected:
 						strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt);
 						snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
 						fp = fopen(log_file_path, "ab");
+
+						/* write first message */
+						fputs(msg.text, fp);
+						fputs("\n", fp);
 					}
 				}
 			}
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a88b6045a..abc69a4b5 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -39,12 +39,14 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #include <nuttx/config.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <sys/prctl.h>
+#include <sys/statfs.h>
 #include <fcntl.h>
 #include <errno.h>
 #include <unistd.h>
@@ -161,7 +163,9 @@ static const int MIN_BYTES_TO_WRITE = 512;
 
 static bool _extended_logging = false;
 
-static const char *log_root = "/fs/microsd/log";
+#define MOUNTPOINT "/fs/microsd"
+static const char *mountpoint = MOUNTPOINT;
+static const char *log_root = MOUNTPOINT "/log";
 static int mavlink_fd = -1;
 struct logbuffer_s lb;
 
@@ -174,6 +178,7 @@ static char log_dir[32];
 /* statistics counters */
 static uint64_t start_time = 0;
 static unsigned long log_bytes_written = 0;
+static unsigned long last_checked_bytes_written = 0;
 static unsigned long log_msgs_written = 0;
 static unsigned long log_msgs_skipped = 0;
 
@@ -188,6 +193,9 @@ static bool log_name_timestamp = false;
 /* helper flag to track system state changes */
 static bool flag_system_armed = false;
 
+/* flag if warning about MicroSD card being almost full has already been sent */
+static bool space_warning_sent = false;
+
 static pthread_t logwriter_pthread = 0;
 static pthread_attr_t logwriter_attr;
 
@@ -247,6 +255,11 @@ static bool file_exist(const char *filename);
 
 static int file_copy(const char *file_old, const char *file_new);
 
+/**
+ * Check if there is still free space available
+ */
+static int check_free_space(void);
+
 static void handle_command(struct vehicle_command_s *cmd);
 
 static void handle_status(struct vehicle_status_s *cmd);
@@ -390,8 +403,7 @@ int create_log_dir()
 	}
 
 	/* print logging path, important to find log file later */
-	warnx("log dir: %s", log_dir);
-	mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir);
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir);
 	return 0;
 }
 
@@ -431,7 +443,7 @@ int open_log_file()
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -439,12 +451,10 @@ int open_log_file()
 	int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
 
 	if (fd < 0) {
-		warn("failed opening log: %s", log_file_name);
-		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
 
 	} else {
-		warnx("log file: %s", log_file_name);
-		mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
+		mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
 	}
 
 	return fd;
@@ -485,7 +495,7 @@ int open_perf_file(const char* str)
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -493,12 +503,8 @@ int open_perf_file(const char* str)
 	int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
 
 	if (fd < 0) {
-		warn("failed opening log: %s", log_file_name);
-		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name);
 
-	} else {
-		warnx("log file: %s", log_file_name);
-		mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
 	}
 
 	return fd;
@@ -560,6 +566,7 @@ static void *logwriter_thread(void *arg)
 		pthread_mutex_unlock(&logbuffer_mutex);
 
 		if (available > 0) {
+
 			/* do heavy IO here */
 			if (available > MAX_WRITE_CHUNK) {
 				n = MAX_WRITE_CHUNK;
@@ -597,6 +604,16 @@ static void *logwriter_thread(void *arg)
 		if (++poll_count == 10) {
 			fsync(log_fd);
 			poll_count = 0;
+
+		}
+
+		if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) {
+			/* check if space is available, if not stop everything */
+			if (check_free_space() != OK) {
+				logwriter_should_exit = true;
+				main_thread_should_exit = true;
+			}
+			last_checked_bytes_written = log_bytes_written;
 		}
 	}
 
@@ -611,15 +628,15 @@ static void *logwriter_thread(void *arg)
 
 void sdlog2_start_log()
 {
-	warnx("start logging");
-	mavlink_log_info(mavlink_fd, "[sdlog2] start logging");
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] start logging");
 
 	/* create log dir if needed */
 	if (create_log_dir() != 0) {
-		mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
-		errx(1, "error creating log dir");
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
+		exit(1);
 	}
 
+
 	/* initialize statistics counter */
 	log_bytes_written = 0;
 	start_time = hrt_absolute_time();
@@ -657,8 +674,7 @@ void sdlog2_start_log()
 
 void sdlog2_stop_log()
 {
-	warnx("stop logging");
-	mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] stop logging");
 
 	logging_enabled = false;
 
@@ -784,7 +800,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
 	if (mavlink_fd < 0) {
-		warnx("failed to open MAVLink log stream, start mavlink app first");
+		warnx("ERR: log stream, start mavlink app first");
 	}
 
 	/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
@@ -912,11 +928,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	}
 
+
+	if (check_free_space() != OK) {
+		errx(1, "ERR: MicroSD almost full");
+	}
+
+
 	/* create log root dir */
 	int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
 
 	if (mkdir_ret != 0 && errno != EEXIST) {
-		err(1, "failed creating log root dir: %s", log_root);
+		err(1, "ERR: failed creating log dir: %s", log_root);
 	}
 
 	/* copy conversion scripts */
@@ -1768,8 +1790,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	free(lb.data);
 
-	warnx("exiting");
-
 	thread_running = false;
 
 	return 0;
@@ -1802,7 +1822,7 @@ int file_copy(const char *file_old, const char *file_new)
 	int ret = 0;
 
 	if (source == NULL) {
-		warnx("failed opening input file to copy");
+		warnx("ERR: open in");
 		return 1;
 	}
 
@@ -1810,7 +1830,7 @@ int file_copy(const char *file_old, const char *file_new)
 
 	if (target == NULL) {
 		fclose(source);
-		warnx("failed to open output file to copy");
+		warnx("ERR: open out");
 		return 1;
 	}
 
@@ -1835,6 +1855,34 @@ int file_copy(const char *file_old, const char *file_new)
 	return OK;
 }
 
+int check_free_space()
+{
+	/* use statfs to determine the number of blocks left */
+	FAR struct statfs statfs_buf;
+	if (statfs(mountpoint, &statfs_buf) != OK) {
+		errx(ERROR, "ERR: statfs");
+	}
+
+	/* use a threshold of 50 MiB */
+	if (statfs_buf.f_bavail < (int)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
+		mavlink_and_console_log_critical(mavlink_fd,
+			"[sdlog2] no space on MicroSD: %u MiB",
+			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
+		/* we do not need a flag to remember that we sent this warning because we will exit anyway */
+		return ERROR;
+
+	/* use a threshold of 100 MiB to send a warning */
+	} else if (!space_warning_sent && statfs_buf.f_bavail < (int)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
+		mavlink_and_console_log_critical(mavlink_fd,
+			"[sdlog2] space on MicroSD low: %u MiB",
+			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
+		/* we don't want to flood the user with warnings */
+		space_warning_sent = true;
+	}
+
+	return OK;
+}
+
 void handle_command(struct vehicle_command_s *cmd)
 {
 	int param;
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 24187c9bc..eb1aef6c1 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -78,89 +78,87 @@ float constrain(float val, float min, float max)
  */
 
 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 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{  0.707107,  0.707107, -1.000000 },
+	{ -0.707107, -0.707107, -1.000000 },
 };
 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 },
+	{ -1.000000,  0.000000,  1.000000 },
+	{  1.000000,  0.000000,  1.000000 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
 };
-//Add table for quad in V configuration, which is not generated by multi_tables!
 const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.3223,  0.9466,   0.4242 },
-	{  0.3223, -0.9466,   1.0000 },
-	{  0.3223,  0.9466,  -0.4242 },
-	{ -0.3223, -0.9466,  -1.0000 },
+	{ -0.322266,  0.946649,  0.424200 },
+	{  0.322266,  0.946649,  1.000000 },
+	{  0.322266,  0.946649, -0.424200 },
+	{ -0.322266,  0.946649, -1.000000 },
 };
 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 },
+	{ -0.927184,  0.374607,  1.000000 },
+	{  0.777146, -0.629320,  1.000000 },
+	{  0.927184,  0.374607, -1.000000 },
+	{ -0.777146, -0.629320, -1.000000 },
 };
 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 },
+	{ -1.000000,  0.000000, -1.000000 },
+	{  1.000000,  0.000000,  1.000000 },
+	{  0.500000,  0.866025, -1.000000 },
+	{ -0.500000, -0.866025,  1.000000 },
+	{ -0.500000,  0.866025,  1.000000 },
+	{  0.500000, -0.866025, -1.000000 },
 };
 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 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000,  1.000000 },
+	{  0.866025, -0.500000, -1.000000 },
+	{ -0.866025,  0.500000,  1.000000 },
+	{  0.866025,  0.500000,  1.000000 },
+	{ -0.866025, -0.500000, -1.000000 },
 };
 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 },
+	{ -0.866025,  0.500000, -1.000000 },
+	{ -0.866025,  0.500000,  1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
+	{ -0.000000, -1.000000,  1.000000 },
+	{  0.866025,  0.500000, -1.000000 },
+	{  0.866025,  0.500000,  1.000000 },
 };
 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 },
+	{ -0.382683,  0.923880, -1.000000 },
+	{  0.382683, -0.923880, -1.000000 },
+	{ -0.923880,  0.382683,  1.000000 },
+	{ -0.382683, -0.923880,  1.000000 },
+	{  0.382683,  0.923880,  1.000000 },
+	{  0.923880, -0.382683,  1.000000 },
+	{  0.923880,  0.382683, -1.000000 },
+	{ -0.923880, -0.382683, -1.000000 },
 };
 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 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{ -0.707107, -0.707107,  1.000000 },
+	{  0.707107,  0.707107,  1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{  1.000000,  0.000000, -1.000000 },
+	{ -1.000000,  0.000000, -1.000000 },
 };
 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 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{  0.707107,  0.707107, -1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{ -0.707107, -0.707107, -1.000000 },
+	{  0.707107,  0.707107,  1.000000 },
+	{ -0.707107,  0.707107, -1.000000 },
+	{ -0.707107, -0.707107,  1.000000 },
+	{  0.707107, -0.707107, -1.000000 },
 };
-const MultirotorMixer::Rotor _config_duorotor[] = {
-	{ -1.000000,  0.000000,  0.00 },
-	{  1.000000,  0.000000,  0.00 },
+const MultirotorMixer::Rotor _config_twin_engine[] = {
+	{ -1.000000,  0.000000,  0.000000 },
+	{  1.000000,  0.000000,  0.000000 },
 };
-
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
@@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
 	&_config_octa_cox[0],
-	&_config_duorotor[0],
+	&_config_twin_engine[0],
 };
 const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
index 18c828578..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 +110,11 @@ foreach table $tables {
 	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 -1.0
+			set dd $dir
 		}
 		factors $angle $dd
 	}