diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 18 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 30 | ||||
| -rwxr-xr-x | src/modules/systemlib/mixer/multi_tables | 39 | ||||
| -rw-r--r-- | src/modules/systemlib/mixer/multi_tables.mk | 6 |
4 files changed, 65 insertions, 28 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index a0197df48..864ce21a5 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -441,6 +441,15 @@ private: SimpleMixer operator=(const SimpleMixer&); }; + +/** + * Supported multirotor geometries. + * + * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h + */ +typedef unsigned int MultirotorGeometryUnderlyingType; +enum class MultirotorGeometry : MultirotorGeometryUnderlyingType; + /** * Multi-rotor mixer for pre-defined vehicle geometries. * @@ -451,13 +460,6 @@ class __EXPORT MultirotorMixer : public Mixer { public: /** - * Supported multirotor geometries. - * - * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h - */ - enum Geometry : unsigned int; - - /** * Precalculated rotor mix. */ struct Rotor { @@ -484,7 +486,7 @@ public: */ MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, - Geometry geometry, + MultirotorGeometry geometry, float roll_scale, float pitch_scale, float yaw_scale, diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 42e3513f4..5cfbe47f0 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -79,7 +79,7 @@ float constrain(float val, float min, float max) MultirotorMixer::MultirotorMixer(ControlCallback control_cb, uintptr_t cb_handle, - Geometry geometry, + MultirotorGeometry geometry, float roll_scale, float pitch_scale, float yaw_scale, @@ -89,8 +89,8 @@ 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 */ - _rotor_count(_config_rotor_count[geometry]), - _rotors(_config_index[geometry]) + _rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]), + _rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]) { } @@ -101,7 +101,7 @@ MultirotorMixer::~MultirotorMixer() MultirotorMixer * MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen) { - MultirotorMixer::Geometry geometry; + MultirotorGeometry geometry; char geomname[8]; int s[4]; int used; @@ -141,37 +141,37 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl debug("remaining in buf: %d, first char: %c", buflen, buf[0]); if (!strcmp(geomname, "4+")) { - geometry = MultirotorMixer::QUAD_PLUS; + geometry = MultirotorGeometry::QUAD_PLUS; } else if (!strcmp(geomname, "4x")) { - geometry = MultirotorMixer::QUAD_X; + geometry = MultirotorGeometry::QUAD_X; } else if (!strcmp(geomname, "4v")) { - geometry = MultirotorMixer::QUAD_V; + geometry = MultirotorGeometry::QUAD_V; } else if (!strcmp(geomname, "4w")) { - geometry = MultirotorMixer::QUAD_WIDE; + geometry = MultirotorGeometry::QUAD_WIDE; } else if (!strcmp(geomname, "6+")) { - geometry = MultirotorMixer::HEX_PLUS; + geometry = MultirotorGeometry::HEX_PLUS; } else if (!strcmp(geomname, "6x")) { - geometry = MultirotorMixer::HEX_X; + geometry = MultirotorGeometry::HEX_X; } else if (!strcmp(geomname, "6c")) { - geometry = MultirotorMixer::HEX_COX; + geometry = MultirotorGeometry::HEX_COX; } else if (!strcmp(geomname, "8+")) { - geometry = MultirotorMixer::OCTA_PLUS; + geometry = MultirotorGeometry::OCTA_PLUS; } else if (!strcmp(geomname, "8x")) { - geometry = MultirotorMixer::OCTA_X; + geometry = MultirotorGeometry::OCTA_X; } else if (!strcmp(geomname, "8c")) { - geometry = MultirotorMixer::OCTA_COX; + geometry = MultirotorGeometry::OCTA_COX; } else if (!strcmp(geomname, "2-")) { - geometry = MultirotorMixer::TWIN_ENGINE; + geometry = MultirotorGeometry::TWIN_ENGINE; } else { debug("unrecognised geometry '%s'", geomname); return nullptr; diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 46dfc5bff..a9edb357b 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -1,4 +1,37 @@ #!/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 # @@ -6,7 +39,7 @@ import math print "/*" -print "* This file is automatically generated by multi_tables.py - do not edit." +print "* This file is automatically generated by multi_tables - do not edit." print "*/" print "" print "#ifndef _MIXER_MULTI_TABLES" @@ -121,12 +154,12 @@ tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x def printEnum(): - print "enum MultirotorMixer::Geometry : unsigned int {" + print "enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {" for table in tables: print "\t{},".format(variableName(table).upper()) print "\n\tMAX_GEOMETRY" - print "}; // enum MultirotorMixer::Geometry\n" + print "}; // enum class MultirotorGeometry\n" def printScaleTables(): for table in tables: diff --git a/src/modules/systemlib/mixer/multi_tables.mk b/src/modules/systemlib/mixer/multi_tables.mk index 02216c3d4..6429961cc 100644 --- a/src/modules/systemlib/mixer/multi_tables.mk +++ b/src/modules/systemlib/mixer/multi_tables.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2014 Anton Matosov <anton.matosov@gmail.com>. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -38,4 +38,6 @@ SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST))) $(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h $(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables - $(SELF_DIR)multi_tables> $(SELF_DIR)mixer_multirotor.generated.h
\ No newline at end of file + $(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h + $(SELF_DIR)multi_tables +
\ No newline at end of file |