diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer.h')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 32 |
1 files changed, 10 insertions, 22 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 1fe4380ad..864ce21a5 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -441,6 +441,15 @@ private: SimpleMixer operator=(const SimpleMixer&); }; + +/** + * 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. * @@ -451,27 +460,6 @@ 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, - TWIN_ENGINE, /**< VTOL: one engine on each wing */ - - MAX_GEOMETRY - }; - - /** * Precalculated rotor mix. */ struct Rotor { @@ -498,7 +486,7 @@ public: */ MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, - Geometry geometry, + MultirotorGeometry geometry, float roll_scale, float pitch_scale, float yaw_scale, |