diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer.h')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 30 |
1 files changed, 10 insertions, 20 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 17989558e..67ef521b4 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -442,6 +442,14 @@ private: }; /** + * Supported multirotor geometries. + * + * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h + */ +typedef unsigned int MultirotorGeometryUnderlyingType; +enum class MultirotorGeometry : MultirotorGeometryUnderlyingType; + +/** * Multi-rotor mixer for pre-defined vehicle geometries. * * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to @@ -451,32 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer { public: /** - * Supported multirotor geometries. - * - * XXX add more - */ - enum Geometry { - 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 */ - HEX_COX, - OCTA_X, - OCTA_PLUS, - OCTA_COX, - - MAX_GEOMETRY - }; - /** * 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 */ }; /** @@ -497,7 +487,7 @@ public: */ MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, - Geometry geometry, + MultirotorGeometry geometry, float roll_scale, float pitch_scale, float yaw_scale, |