1 files changed, 100 insertions, 0 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
new file mode 100755
index 000000000..19a8239a6
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables
@@ -0,0 +1,100 @@
+#!/usr/bin/tclsh
+#
+# Generate multirotor mixer scale tables compatible with the ArduCopter layout
+#
+
+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 {
+	  68 CCW
+	-136 CCW
+	 -68 CW
+	 136 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 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 tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
+
+proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [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
+		} else {
+			set dd -1.0
+		}
+		factors $angle $dd
+	}
+	puts "};"
+}
+
+puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+foreach table $tables {
+	puts [format "\t&_config_%s\[0\]," $table]
+}
+puts "};"
+
+puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+foreach table $tables {
+	upvar #0 $table angles
+	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
+}
+puts "};"