diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 114 |
1 files changed, 2 insertions, 112 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index eb1aef6c1..bb3868c34 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -73,118 +73,8 @@ float constrain(float val, float min, float max) return (val < min) ? min : ((val > max) ? max : val); } -/* - * These tables automatically generated by multi_tables - do not edit. - */ - -const MultirotorMixer::Rotor _config_quad_x[] = { - { -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, 1.000000 }, - { 1.000000, 0.000000, 1.000000 }, - { 0.000000, 1.000000, -1.000000 }, - { -0.000000, -1.000000, -1.000000 }, -}; -const MultirotorMixer::Rotor _config_quad_v[] = { - { -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, 1.000000 }, - { 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, -1.000000 }, - { 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, -1.000000 }, - { -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, -1.000000 }, - { -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, -1.000000 }, - { 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, -1.000000 }, - { -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, 1.000000 }, - { 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_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], - &_config_quad_v[0], - &_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], - &_config_twin_engine[0], -}; -const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { - 4, /* quad_x */ - 4, /* quad_plus */ - 4, /* quad_v */ - 4, /* quad_wide */ - 6, /* hex_x */ - 6, /* hex_plus */ - 6, /* hex_cox */ - 8, /* octa_x */ - 8, /* octa_plus */ - 8, /* octa_cox */ - 2, /* twin_engine */ -}; +// This file is generated by the multi_tables script which is invoked during the build process +#include "mixer_multirotor.generated.h" } |