diff options
Diffstat (limited to 'src/modules/systemlib/mixer/multi_tables')
-rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 156 |
1 files changed, 0 insertions, 156 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables deleted file mode 100755 index b29bf540a..000000000 --- a/src/modules/systemlib/mixer/multi_tables +++ /dev/null @@ -1,156 +0,0 @@ -#!/usr/bin/tclsh -# -# Generate multirotor mixer scale tables compatible with the ArduCopter layout -# - -puts "/*" -puts "* These file is automatically generated by multi_tables - do not edit." -puts "*/" -puts "" - -proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) } -proc rcos {a} { expr cos([rad $a])} - - -set quad_x { - 45 CCW - -135 CCW - -45 CW - 135 CW -} - -set quad_plus { - 90 CCW - -90 CCW - 0 CW - 180 CW -} - -set quad_v { - 18.8 0.4242 - -18.8 1.0 - -18.8 -0.4242 - 18.8 -1.0 -} - -set quad_wide { - 68 CCW - -129 CCW - -68 CW - 129 CW -} - -set hex_x { - 90 CW - -90 CCW - -30 CW - 150 CCW - 30 CCW - -150 CW -} - -set hex_plus { - 0 CW - 180 CCW - -120 CW - 60 CCW - -60 CCW - 120 CW -} - -set hex_cox { - 60 CW - 60 CCW - 180 CW - 180 CCW - -60 CW - -60 CCW -} - -set 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 -} - -set octa_plus { - 0 CW - 180 CW - 45 CCW - 135 CCW - -45 CCW - -135 CCW - -90 CW - 90 CW -} - -set octa_cox { - 45 CCW - -45 CW - -135 CCW - 135 CW - -45 CCW - 45 CW - 135 CCW - -135 CW -} - -set twin_engine { - 90 0.0 - -90 0.0 -} - - -set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine} - -puts "enum MultirotorMixer::Geometry : unsigned int {" -foreach table $tables { - puts [format "\t%s," [string toupper $table]] -} -puts "\n\tMAX_GEOMETRY" -puts "}; // enum MultirotorMixer::Geometry\n" - - -puts "namespace {" - -proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]} - -foreach table $tables { - puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] - - upvar #0 $table angles - foreach {angle dir} $angles { - if {$dir == "CW"} { - set dd -1.0 - } elseif {$dir == "CCW"} { - set dd 1.0 - } else { - set dd $dir - } - factors $angle $dd - } - puts "};\n" -} - -puts "const MultirotorMixer::Rotor *_config_index\[\] = {" -foreach table $tables { - puts [format "\t&_config_%s\[0\]," $table] -} -puts "};\n" - -puts "const unsigned _config_rotor_count\[\] = {" -foreach table $tables { - upvar #0 $table angles - puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table] -} -puts "};\n" - -puts "} // anonymous namespace\n" - -# Newline at the end of file -puts "" |