aboutsummaryrefslogtreecommitdiff
path: root/src/modules/systemlib/mixer/mixer_multirotor.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
-rw-r--r--src/modules/systemlib/mixer/mixer_multirotor.cpp147
1 files changed, 18 insertions, 129 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index eb1aef6c1..5cfbe47f0 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -55,6 +55,9 @@
#include "mixer.h"
+// This file is generated by the multi_tables script which is invoked during the build process
+#include "mixer_multirotor.generated.h"
+
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
//#include <debug.h>
@@ -72,125 +75,11 @@ 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 */
-};
-
}
MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
- Geometry geometry,
+ MultirotorGeometry geometry,
float roll_scale,
float pitch_scale,
float yaw_scale,
@@ -200,8 +89,8 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
_pitch_scale(pitch_scale),
_yaw_scale(yaw_scale),
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
- _rotor_count(_config_rotor_count[geometry]),
- _rotors(_config_index[geometry])
+ _rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
+ _rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
{
}
@@ -212,7 +101,7 @@ MultirotorMixer::~MultirotorMixer()
MultirotorMixer *
MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
{
- MultirotorMixer::Geometry geometry;
+ MultirotorGeometry geometry;
char geomname[8];
int s[4];
int used;
@@ -252,37 +141,37 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
if (!strcmp(geomname, "4+")) {
- geometry = MultirotorMixer::QUAD_PLUS;
+ geometry = MultirotorGeometry::QUAD_PLUS;
} else if (!strcmp(geomname, "4x")) {
- geometry = MultirotorMixer::QUAD_X;
+ geometry = MultirotorGeometry::QUAD_X;
} else if (!strcmp(geomname, "4v")) {
- geometry = MultirotorMixer::QUAD_V;
+ geometry = MultirotorGeometry::QUAD_V;
} else if (!strcmp(geomname, "4w")) {
- geometry = MultirotorMixer::QUAD_WIDE;
+ geometry = MultirotorGeometry::QUAD_WIDE;
} else if (!strcmp(geomname, "6+")) {
- geometry = MultirotorMixer::HEX_PLUS;
+ geometry = MultirotorGeometry::HEX_PLUS;
} else if (!strcmp(geomname, "6x")) {
- geometry = MultirotorMixer::HEX_X;
+ geometry = MultirotorGeometry::HEX_X;
} else if (!strcmp(geomname, "6c")) {
- geometry = MultirotorMixer::HEX_COX;
+ geometry = MultirotorGeometry::HEX_COX;
} else if (!strcmp(geomname, "8+")) {
- geometry = MultirotorMixer::OCTA_PLUS;
+ geometry = MultirotorGeometry::OCTA_PLUS;
} else if (!strcmp(geomname, "8x")) {
- geometry = MultirotorMixer::OCTA_X;
+ geometry = MultirotorGeometry::OCTA_X;
} else if (!strcmp(geomname, "8c")) {
- geometry = MultirotorMixer::OCTA_COX;
+ geometry = MultirotorGeometry::OCTA_COX;
} else if (!strcmp(geomname, "2-")) {
- geometry = MultirotorMixer::TWIN_ENGINE;
+ geometry = MultirotorGeometry::TWIN_ENGINE;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-18 16:01:19 +0000