diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.autostart | 19 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables.py | 8 |
3 files changed, 30 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart index 0d6e0564a..097ea5efd 100644 --- a/ROMFS/px4fmu_common/init.d/rc.autostart +++ b/ROMFS/px4fmu_common/init.d/rc.autostart @@ -16,6 +16,7 @@ # 11000 .. 11999 Hexa Cox # 12000 .. 12999 Octo Cox # 13000 .. 13999 VTOL +# 14000 .. 14999 Tri Y # # Simulation @@ -266,3 +267,21 @@ if param compare SYS_AUTOSTART 13002 then sh /etc/init.d/13002_firefly6 fi + +# +# TriCopter Y Yaw+ +# +if param compare SYS_AUTOSTART 14001 +then + sh /etc/init.d/14001_tri_y_yaw+ +fi + +# +# TriCopter Y Yaw- +# +if param compare SYS_AUTOSTART 14002 +then + sh /etc/init.d/14002_tri_y_yaw- +fi + + diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 2ab5b5e8e..b354eb518 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -177,6 +177,10 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "2-")) { geometry = MultirotorGeometry::TWIN_ENGINE; + + } else if (!strcmp(geomname, "3y")) { + geometry = MultirotorGeometry::TRI_Y; + } else { debug("unrecognised geometry '%s'", geomname); return nullptr; diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py index ba59e0536..e01fcaf8f 100755 --- a/src/modules/systemlib/mixer/multi_tables.py +++ b/src/modules/systemlib/mixer/multi_tables.py @@ -155,8 +155,14 @@ twin_engine = [ [-90, 0.0], ] +tri_y = [ + [ 60, 0.0], + [ -60, 0.0], + [ 180, 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] +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, tri_y] def variableName(variable): for variableName, value in list(globals().items()): |