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-rw-r--r--ROMFS/px4fmu_common/init.d/10019_sk450_deadcat31
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.autostart5
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS2
-rw-r--r--ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix25
-rw-r--r--src/modules/systemlib/mixer/mixer.h3
-rw-r--r--src/modules/systemlib/mixer/mixer_multirotor.cpp9
-rwxr-xr-xsrc/modules/systemlib/mixer/multi_tables.py21
7 files changed, 89 insertions, 7 deletions
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
new file mode 100644
index 000000000..e68f57f25
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -0,0 +1,31 @@
+#!nsh
+#
+# HobbyKing SK450 DeadCat modification
+#
+# Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+ param set MC_ROLL_P 6.0
+ param set MC_ROLLRATE_P 0.04
+ param set MC_ROLLRATE_I 0.1
+ param set MC_ROLLRATE_D 0.0015
+
+ param set MC_PITCH_P 6.0
+ param set MC_PITCHRATE_P 0.08
+ param set MC_PITCHRATE_I 0.2
+ param set MC_PITCHRATE_D 0.0015
+
+ param set MC_YAW_P 2.8
+ param set MC_YAWRATE_P 0.1
+ param set MC_YAWRATE_I 0.07
+ param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER sk450_deadcat
+
+set PWM_OUT 1234
+set PWM_MIN 1050
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 20f2be0d9..b83687fbd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -226,6 +226,11 @@ then
sh /etc/init.d/10018_tbs_endurance
fi
+if param compare SYS_AUTOSTART 10019
+then
+ sh /etc/init.d/10019_sk450_deadcat
+fi
+
#
# Hexa Coaxial
#
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 84c7e096d..ac740181a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -524,7 +524,7 @@ then
then
set MAV_TYPE 2
fi
- if [ $MIXER == quad_w ]
+ if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
then
set MAV_TYPE 2
fi
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
new file mode 100644
index 000000000..a8c5b716d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
@@ -0,0 +1,25 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 864ce21a5..67ef521b4 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -441,7 +441,6 @@ private:
SimpleMixer operator=(const SimpleMixer&);
};
-
/**
* Supported multirotor geometries.
*
@@ -460,12 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer
{
public:
/**
+
* 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 */
};
/**
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 5cfbe47f0..2ab5b5e8e 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -75,7 +75,8 @@ float constrain(float val, float min, float max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
-}
+
+} // anonymous namespace
MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
@@ -89,6 +90,7 @@ 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 */
+ _limits_pub(),
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
{
@@ -152,6 +154,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorGeometry::QUAD_WIDE;
+ } else if (!strcmp(geomname, "4dc")) {
+ geometry = MultirotorGeometry::QUAD_DEADCAT;
+
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorGeometry::HEX_PLUS;
@@ -212,6 +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/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
index 21c0affd9..ba59e0536 100755
--- a/src/modules/systemlib/mixer/multi_tables.py
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -69,6 +69,13 @@ quad_plus = [
[ 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],
@@ -148,13 +155,18 @@ twin_engine = [
[-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
-tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
-
+def unpackScales(scalesList):
+ if len(scalesList) == 2:
+ scalesList += [1.0] #Add thrust scale
+ return scalesList
def printEnum():
print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
@@ -167,10 +179,11 @@ def printEnum():
def printScaleTables():
for table in tables:
print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
- for (angle, yawScale) in table:
+ for row in table:
+ angle, yawScale, thrustScale = unpackScales(row)
rollScale = rcos(angle + 90)
pitchScale = rcos(angle)
- print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
+ print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
print("};\n")
def printScaleTablesIndex():
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-07 20:31:24 +0000