diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 19 |
1 files changed, 15 insertions, 4 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 57e17b67d..24187c9bc 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -76,6 +76,7 @@ float constrain(float val, float min, float max) /* * These tables automatically generated by multi_tables - do not edit. */ + const MultirotorMixer::Rotor _config_quad_x[] = { { -0.707107, 0.707107, 1.00 }, { 0.707107, -0.707107, 1.00 }, @@ -88,11 +89,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = { { 0.000000, 1.000000, -1.00 }, { -0.000000, -1.000000, -1.00 }, }; +//Add table for quad in V configuration, which is not generated by multi_tables! const MultirotorMixer::Rotor _config_quad_v[] = { - { -0.927184, 0.374607, 1.00 }, - { 0.694658, -0.719340, 1.00 }, - { 0.927184, 0.374607, -1.00 }, - { -0.694658, -0.719340, -1.00 }, + { -0.3223, 0.9466, 0.4242 }, + { 0.3223, -0.9466, 1.0000 }, + { 0.3223, 0.9466, -0.4242 }, + { -0.3223, -0.9466, -1.0000 }, }; const MultirotorMixer::Rotor _config_quad_wide[] = { { -0.927184, 0.374607, 1.00 }, @@ -154,6 +156,11 @@ const MultirotorMixer::Rotor _config_octa_cox[] = { { -0.707107, -0.707107, 1.00 }, { 0.707107, -0.707107, -1.00 }, }; +const MultirotorMixer::Rotor _config_duorotor[] = { + { -1.000000, 0.000000, 0.00 }, + { 1.000000, 0.000000, 0.00 }, +}; + const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_quad_x[0], &_config_quad_plus[0], @@ -165,6 +172,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { &_config_octa_x[0], &_config_octa_plus[0], &_config_octa_cox[0], + &_config_duorotor[0], }; const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 4, /* quad_x */ @@ -177,6 +185,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { 8, /* octa_x */ 8, /* octa_plus */ 8, /* octa_cox */ + 2, /* twin_engine */ }; } @@ -274,6 +283,8 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "8c")) { geometry = MultirotorMixer::OCTA_COX; + } else if (!strcmp(geomname, "2-")) { + geometry = MultirotorMixer::TWIN_ENGINE; } else { debug("unrecognised geometry '%s'", geomname); return nullptr; |