Merge pull request #1581 from anton-matosov/master

Made all the multirotor tables been generated by multi_table script

2 files changed, 77 insertions, 68 deletions

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
 	}