1 files changed, 200 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
new file mode 100755
index 000000000..21c0affd9
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -0,0 +1,200 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Generate multirotor mixer scale tables compatible with the ArduCopter layout
+#
+
+# for python2.7 compatibility
+from __future__ import  print_function
+
+import math
+
+print("/*")
+print("* This file is automatically generated by multi_tables - do not edit.")
+print("*/")
+print("")
+print("#ifndef _MIXER_MULTI_TABLES")
+print("#define _MIXER_MULTI_TABLES")
+print("")
+
+def rcos(angleInRadians):
+  return math.cos(math.radians(angleInRadians))
+
+CCW = 1.0
+CW = -CCW
+
+quad_x = [
+    [  45, CCW],
+    [-135, CCW],
+    [-45,  CW],
+    [135,  CW],
+]
+
+quad_plus = [
+    [  90, CCW],
+    [ -90, CCW],
+    [   0, CW],
+    [ 180, CW],
+]
+
+quad_v = [
+    [  18.8, 0.4242],
+    [ -18.8, 1.0],
+    [ -18.8, -0.4242],
+    [  18.8, -1.0],
+]
+
+quad_wide = [
+    [   68, CCW],
+    [ -129, CCW],
+    [  -68, CW],
+    [  129, CW],
+]
+
+hex_x = [
+    [  90, CW],
+    [ -90, CCW],
+    [ -30, CW],
+    [ 150, CCW],
+    [  30, CCW],
+    [-150, CW],
+]
+
+hex_plus = [
+    [   0, CW],
+    [ 180, CCW],
+    [-120, CW],
+    [  60, CCW],
+    [ -60, CCW],
+    [ 120, CW],
+]
+
+hex_cox = [
+    [  60, CW],
+    [  60, CCW],
+    [ 180, CW],
+    [ 180, CCW],
+    [ -60, CW],
+    [ -60, CCW],
+]
+
+octa_x = [
+    [  22.5, CW],
+    [-157.5, CW],
+    [  67.5, CCW],
+    [ 157.5, CCW],
+    [ -22.5, CCW],
+    [-112.5, CCW],
+    [ -67.5, CW],
+    [ 112.5, CW],
+]
+
+octa_plus = [
+    [   0, CW],
+    [ 180, CW],
+    [  45, CCW],
+    [ 135, CCW],
+    [ -45, CCW],
+    [-135, CCW],
+    [ -90, CW],
+    [  90, CW],
+]
+
+octa_cox = [
+    [  45, CCW],
+    [ -45, CW],
+    [-135, CCW],
+    [ 135, CW],
+    [ -45, CCW],
+    [  45, CW],
+    [ 135, CCW],
+    [-135, CW],
+]
+
+twin_engine = [
+    [ 90, 0.0],
+    [-90, 0.0],
+]
+
+def variableName(variable):
+    for variableName, value in list(globals().items()):
+        if value is variable:
+            return variableName
+
+tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
+
+
+def printEnum():
+    print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
+    for table in tables:
+        print("\t{},".format(variableName(table).upper()))
+
+    print("\n\tMAX_GEOMETRY")
+    print("}; // enum class MultirotorGeometry\n")
+
+def printScaleTables():
+    for table in tables:
+        print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
+        for (angle, yawScale) in table:
+            rollScale = rcos(angle + 90)
+            pitchScale = rcos(angle)
+            print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
+        print("};\n")
+
+def printScaleTablesIndex():
+    print("const MultirotorMixer::Rotor *_config_index[] = {")
+    for table in tables:
+        print("\t&_config_{}[0],".format(variableName(table)))
+    print("};\n")
+
+
+def printScaleTablesCounts():
+    print("const unsigned _config_rotor_count[] = {")
+    for table in tables:
+        print("\t{}, /* {} */".format(len(table), variableName(table)))
+    print("};\n")
+
+
+
+printEnum()
+
+print("namespace {")
+printScaleTables()
+printScaleTablesIndex()
+printScaleTablesCounts()
+
+print("} // anonymous namespace\n")
+print("#endif /* _MIXER_MULTI_TABLES */")
+print("")