diff options
-rw-r--r-- | apps/systemlib/mixer/mixer.h | 1 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 11 | ||||
-rwxr-xr-x | apps/systemlib/mixer/multi_tables | 9 |
3 files changed, 20 insertions, 1 deletions
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h index 71386cba7..40d37fce2 100644 --- a/apps/systemlib/mixer/mixer.h +++ b/apps/systemlib/mixer/mixer.h @@ -418,6 +418,7 @@ public: enum Geometry { QUAD_X = 0, /**< quad in X configuration */ QUAD_PLUS, /**< quad in + configuration */ + QUAD_V, /**< quad in V configuration */ HEX_X, /**< hex in X configuration */ HEX_PLUS, /**< hex in + configuration */ OCTA_X, diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index 4b9cfc023..a45ca3f21 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = { { 0.000000, 1.000000, -1.00 }, { -0.000000, -1.000000, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_v[] = { + { -0.882948, 0.469472, 1.00 }, + { 0.731354, -0.681998, 1.00 }, + { 0.882948, 0.469472, -1.00 }, + { -0.731354, -0.681998, -1.00 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = { const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = { &_config_quad_x[0], &_config_quad_plus[0], + &_config_quad_v[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ + 4, /* quad_v */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4x")) { geometry = MultirotorMixer::QUAD_X; + } else if (!strcmp(geomname, "4v")) { + geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables index f17ae30ca..0c5689143 100755 --- a/apps/systemlib/mixer/multi_tables +++ b/apps/systemlib/mixer/multi_tables @@ -20,6 +20,13 @@ set quad_plus { 180 CW } +set quad_v { + 62 CCW + -133 CCW + -62 CW + 133 CW +} + set hex_x { 90 CW -90 CCW @@ -60,7 +67,7 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus} +set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus} proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} |