diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 3 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 9 | ||||
-rwxr-xr-x | src/modules/systemlib/mixer/multi_tables.py | 21 |
3 files changed, 27 insertions, 6 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 864ce21a5..67ef521b4 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -441,7 +441,6 @@ private: SimpleMixer operator=(const SimpleMixer&); }; - /** * Supported multirotor geometries. * @@ -460,12 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer { public: /** + * Precalculated rotor mix. */ struct Rotor { float roll_scale; /**< scales roll for this rotor */ float pitch_scale; /**< scales pitch for this rotor */ float yaw_scale; /**< scales yaw for this rotor */ + float out_scale; /**< scales total out for this rotor */ }; /** diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 5cfbe47f0..2ab5b5e8e 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -75,7 +75,8 @@ float constrain(float val, float min, float max) { return (val < min) ? min : ((val > max) ? max : val); } -} + +} // anonymous namespace MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, @@ -89,6 +90,7 @@ 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 */ + _limits_pub(), _rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]), _rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]) { @@ -152,6 +154,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4w")) { geometry = MultirotorGeometry::QUAD_WIDE; + } else if (!strcmp(geomname, "4dc")) { + geometry = MultirotorGeometry::QUAD_DEADCAT; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorGeometry::HEX_PLUS; @@ -212,6 +217,8 @@ MultirotorMixer::mix(float *outputs, unsigned space) pitch * _rotors[i].pitch_scale + thrust; + out *= _rotors[i].out_scale; + /* limit yaw if it causes outputs clipping */ if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) { yaw = -out / _rotors[i].yaw_scale; diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py index 21c0affd9..ba59e0536 100755 --- a/src/modules/systemlib/mixer/multi_tables.py +++ b/src/modules/systemlib/mixer/multi_tables.py @@ -69,6 +69,13 @@ quad_plus = [ [ 180, CW], ] +quad_deadcat = [ + [ 63, CCW, 1.0], + [-135, CCW, 0.964], + [ -63, CW, 1.0], + [ 135, CW, 0.964], +] + quad_v = [ [ 18.8, 0.4242], [ -18.8, 1.0], @@ -148,13 +155,18 @@ twin_engine = [ [-90, 0.0], ] + +tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine] + 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 unpackScales(scalesList): + if len(scalesList) == 2: + scalesList += [1.0] #Add thrust scale + return scalesList def printEnum(): print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {") @@ -167,10 +179,11 @@ def printEnum(): def printScaleTables(): for table in tables: print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))) - for (angle, yawScale) in table: + for row in table: + angle, yawScale, thrustScale = unpackScales(row) rollScale = rcos(angle + 90) pitchScale = rcos(angle) - print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)) + print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale)) print("};\n") def printScaleTablesIndex(): |