diff options
| -rw-r--r-- | Makefile | 2 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.IO_QUAD (renamed from ROMFS/scripts/rc.IO_QUAD) | 0 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/mixers/FMU_quad_w.mix | 6 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 1 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 11 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 9 |
6 files changed, 27 insertions, 2 deletions
@@ -1,5 +1,5 @@ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 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 diff --git a/ROMFS/scripts/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD index 287cb0483..287cb0483 100644 --- a/ROMFS/scripts/rc.IO_QUAD +++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix new file mode 100644 index 000000000..81b4af30b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix @@ -0,0 +1,6 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%. + +R: 4w 10000 10000 10000 0 diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 40d37fce2..bbfa130a9 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -419,6 +419,7 @@ public: QUAD_X = 0, /**< quad in X configuration */ QUAD_PLUS, /**< quad in + configuration */ QUAD_V, /**< quad in V configuration */ + QUAD_WIDE, /**< quad in wide configuration */ HEX_X, /**< hex in X configuration */ HEX_PLUS, /**< hex in + configuration */ OCTA_X, diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index d79811c0f..8ded0b05c 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = { { 0.927184, 0.374607, -1.00 }, { -0.694658, -0.719340, -1.00 }, }; +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 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME &_config_quad_x[0], &_config_quad_plus[0], &_config_quad_v[0], + &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ 4, /* quad_v */ + 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4v")) { geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "4w")) { + geometry = MultirotorMixer::QUAD_WIDE; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 19a8239a6..683c63040 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -27,6 +27,13 @@ set quad_v { 136 CW } +set quad_wide { + 68 CCW + -129 CCW + -68 CW + 129 CW +} + set hex_x { 90 CW -90 CCW @@ -67,7 +74,7 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus} +set tables {quad_x quad_plus quad_v quad_wide 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]]} |