diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 1ca0a21e9..4ad21d818 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -115,6 +115,14 @@ const MultirotorMixer::Rotor _config_hex_plus[] = { { 0.866025, 0.500000, 1.00 }, { -0.866025, -0.500000, -1.00 }, }; +const MultirotorMixer::Rotor _config_hex_cox[] = { + { -0.866025, 0.500000, -1.00 }, + { -0.866025, 0.500000, 1.00 }, + { -0.000000, -1.000000, -1.00 }, + { -0.000000, -1.000000, 1.00 }, + { 0.866025, 0.500000, -1.00 }, + { 0.866025, 0.500000, 1.00 }, +}; const MultirotorMixer::Rotor _config_octa_x[] = { { -0.382683, 0.923880, -1.00 }, { 0.382683, -0.923880, -1.00 }, @@ -152,6 +160,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], + &_config_hex_cox[0], &_config_octa_x[0], &_config_octa_plus[0], &_config_octa_cox[0], @@ -163,6 +172,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ + 6, /* hex_cox */ 8, /* octa_x */ 8, /* octa_plus */ 8, /* octa_cox */ @@ -252,6 +262,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "6x")) { geometry = MultirotorMixer::HEX_X; + } else if (!strcmp(geomname, "6c")) { + geometry = MultirotorMixer::HEX_COX; + } else if (!strcmp(geomname, "8+")) { geometry = MultirotorMixer::OCTA_PLUS; |