diff options
Diffstat (limited to 'src/modules/systemlib/mixer/multi_tables')
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 19 |
1 files changed, 15 insertions, 4 deletions
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 18c828578..bdb62f812 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -21,6 +21,12 @@ set quad_plus { 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 @@ -89,11 +95,14 @@ set octa_cox { -135 CW } +set twin_engine { + 90 0.0 + -90 0.0 +} -set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox} - +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine} -proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} +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] @@ -101,9 +110,11 @@ foreach table $tables { 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 -1.0 + set dd $dir } factors $angle $dd } |