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-rw-r--r--src/modules/systemlib/mixer/mixer_multirotor.cpp126
1 files changed, 62 insertions, 64 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 24187c9bc..eb1aef6c1 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -78,89 +78,87 @@ float constrain(float val, float min, float max)
*/
const MultirotorMixer::Rotor _config_quad_x[] = {
- { -0.707107, 0.707107, 1.00 },
- { 0.707107, -0.707107, 1.00 },
- { 0.707107, 0.707107, -1.00 },
- { -0.707107, -0.707107, -1.00 },
+ { -0.707107, 0.707107, 1.000000 },
+ { 0.707107, -0.707107, 1.000000 },
+ { 0.707107, 0.707107, -1.000000 },
+ { -0.707107, -0.707107, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_plus[] = {
- { -1.000000, 0.000000, 1.00 },
- { 1.000000, 0.000000, 1.00 },
- { 0.000000, 1.000000, -1.00 },
- { -0.000000, -1.000000, -1.00 },
+ { -1.000000, 0.000000, 1.000000 },
+ { 1.000000, 0.000000, 1.000000 },
+ { 0.000000, 1.000000, -1.000000 },
+ { -0.000000, -1.000000, -1.000000 },
};
-//Add table for quad in V configuration, which is not generated by multi_tables!
const MultirotorMixer::Rotor _config_quad_v[] = {
- { -0.3223, 0.9466, 0.4242 },
- { 0.3223, -0.9466, 1.0000 },
- { 0.3223, 0.9466, -0.4242 },
- { -0.3223, -0.9466, -1.0000 },
+ { -0.322266, 0.946649, 0.424200 },
+ { 0.322266, 0.946649, 1.000000 },
+ { 0.322266, 0.946649, -0.424200 },
+ { -0.322266, 0.946649, -1.000000 },
};
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 },
+ { -0.927184, 0.374607, 1.000000 },
+ { 0.777146, -0.629320, 1.000000 },
+ { 0.927184, 0.374607, -1.000000 },
+ { -0.777146, -0.629320, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
- { -1.000000, 0.000000, -1.00 },
- { 1.000000, 0.000000, 1.00 },
- { 0.500000, 0.866025, -1.00 },
- { -0.500000, -0.866025, 1.00 },
- { -0.500000, 0.866025, 1.00 },
- { 0.500000, -0.866025, -1.00 },
+ { -1.000000, 0.000000, -1.000000 },
+ { 1.000000, 0.000000, 1.000000 },
+ { 0.500000, 0.866025, -1.000000 },
+ { -0.500000, -0.866025, 1.000000 },
+ { -0.500000, 0.866025, 1.000000 },
+ { 0.500000, -0.866025, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_plus[] = {
- { 0.000000, 1.000000, -1.00 },
- { -0.000000, -1.000000, 1.00 },
- { 0.866025, -0.500000, -1.00 },
- { -0.866025, 0.500000, 1.00 },
- { 0.866025, 0.500000, 1.00 },
- { -0.866025, -0.500000, -1.00 },
+ { 0.000000, 1.000000, -1.000000 },
+ { -0.000000, -1.000000, 1.000000 },
+ { 0.866025, -0.500000, -1.000000 },
+ { -0.866025, 0.500000, 1.000000 },
+ { 0.866025, 0.500000, 1.000000 },
+ { -0.866025, -0.500000, -1.000000 },
};
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 },
+ { -0.866025, 0.500000, -1.000000 },
+ { -0.866025, 0.500000, 1.000000 },
+ { -0.000000, -1.000000, -1.000000 },
+ { -0.000000, -1.000000, 1.000000 },
+ { 0.866025, 0.500000, -1.000000 },
+ { 0.866025, 0.500000, 1.000000 },
};
const MultirotorMixer::Rotor _config_octa_x[] = {
- { -0.382683, 0.923880, -1.00 },
- { 0.382683, -0.923880, -1.00 },
- { -0.923880, 0.382683, 1.00 },
- { -0.382683, -0.923880, 1.00 },
- { 0.382683, 0.923880, 1.00 },
- { 0.923880, -0.382683, 1.00 },
- { 0.923880, 0.382683, -1.00 },
- { -0.923880, -0.382683, -1.00 },
+ { -0.382683, 0.923880, -1.000000 },
+ { 0.382683, -0.923880, -1.000000 },
+ { -0.923880, 0.382683, 1.000000 },
+ { -0.382683, -0.923880, 1.000000 },
+ { 0.382683, 0.923880, 1.000000 },
+ { 0.923880, -0.382683, 1.000000 },
+ { 0.923880, 0.382683, -1.000000 },
+ { -0.923880, -0.382683, -1.000000 },
};
const MultirotorMixer::Rotor _config_octa_plus[] = {
- { 0.000000, 1.000000, -1.00 },
- { -0.000000, -1.000000, -1.00 },
- { -0.707107, 0.707107, 1.00 },
- { -0.707107, -0.707107, 1.00 },
- { 0.707107, 0.707107, 1.00 },
- { 0.707107, -0.707107, 1.00 },
- { 1.000000, 0.000000, -1.00 },
- { -1.000000, 0.000000, -1.00 },
+ { 0.000000, 1.000000, -1.000000 },
+ { -0.000000, -1.000000, -1.000000 },
+ { -0.707107, 0.707107, 1.000000 },
+ { -0.707107, -0.707107, 1.000000 },
+ { 0.707107, 0.707107, 1.000000 },
+ { 0.707107, -0.707107, 1.000000 },
+ { 1.000000, 0.000000, -1.000000 },
+ { -1.000000, 0.000000, -1.000000 },
};
const MultirotorMixer::Rotor _config_octa_cox[] = {
- { -0.707107, 0.707107, 1.00 },
- { 0.707107, 0.707107, -1.00 },
- { 0.707107, -0.707107, 1.00 },
- { -0.707107, -0.707107, -1.00 },
- { 0.707107, 0.707107, 1.00 },
- { -0.707107, 0.707107, -1.00 },
- { -0.707107, -0.707107, 1.00 },
- { 0.707107, -0.707107, -1.00 },
+ { -0.707107, 0.707107, 1.000000 },
+ { 0.707107, 0.707107, -1.000000 },
+ { 0.707107, -0.707107, 1.000000 },
+ { -0.707107, -0.707107, -1.000000 },
+ { 0.707107, 0.707107, 1.000000 },
+ { -0.707107, 0.707107, -1.000000 },
+ { -0.707107, -0.707107, 1.000000 },
+ { 0.707107, -0.707107, -1.000000 },
};
-const MultirotorMixer::Rotor _config_duorotor[] = {
- { -1.000000, 0.000000, 0.00 },
- { 1.000000, 0.000000, 0.00 },
+const MultirotorMixer::Rotor _config_twin_engine[] = {
+ { -1.000000, 0.000000, 0.000000 },
+ { 1.000000, 0.000000, 0.000000 },
};
-
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
@@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
- &_config_duorotor[0],
+ &_config_twin_engine[0],
};
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-05 02:44:41 +0000