From 285a0e7be9c6227e0353e356cbbd6f48e54d057e Mon Sep 17 00:00:00 2001
From: Roman Bapst <romanbapst@yahoo.de>
Date: Tue, 2 Dec 2014 10:36:30 +0100
Subject: added more mixer geometries and took v-mixer out of multi_tables
 script

---
 src/modules/systemlib/mixer/mixer.h              |  1 +
 src/modules/systemlib/mixer/mixer_multirotor.cpp | 19 +++++++++++++++----
 src/modules/systemlib/mixer/multi_tables         | 11 ++++-------
 3 files changed, 20 insertions(+), 11 deletions(-)

(limited to 'src/modules/systemlib/mixer')

diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 17989558e..f14bdb9fd 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -466,6 +466,7 @@ public:
 		OCTA_X,
 		OCTA_PLUS,
 		OCTA_COX,
+		TWIN_ENGINE, /**< VTOL: one engine on each wing */	
 
 		MAX_GEOMETRY
 	};
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 57e17b67d..24187c9bc 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -76,6 +76,7 @@ float constrain(float val, float min, float max)
 /*
  * These tables automatically generated by multi_tables - do not edit.
  */
+
 const MultirotorMixer::Rotor _config_quad_x[] = {
 	{ -0.707107,  0.707107,  1.00 },
 	{  0.707107, -0.707107,  1.00 },
@@ -88,11 +89,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
 	{  0.000000,  1.000000, -1.00 },
 	{ -0.000000, -1.000000, -1.00 },
 };
+//Add table for quad in V configuration, which is not generated by multi_tables!
 const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.927184,  0.374607,  1.00 },
-	{  0.694658, -0.719340,  1.00 },
-	{  0.927184,  0.374607, -1.00 },
-	{ -0.694658, -0.719340, -1.00 },
+	{ -0.3223,  0.9466,   0.4242 },
+	{  0.3223, -0.9466,   1.0000 },
+	{  0.3223,  0.9466,  -0.4242 },
+	{ -0.3223, -0.9466,  -1.0000 },
 };
 const MultirotorMixer::Rotor _config_quad_wide[] = {
 	{ -0.927184,  0.374607,  1.00 },
@@ -154,6 +156,11 @@ const MultirotorMixer::Rotor _config_octa_cox[] = {
 	{ -0.707107, -0.707107,  1.00 },
 	{  0.707107, -0.707107, -1.00 },
 };
+const MultirotorMixer::Rotor _config_duorotor[] = {
+	{ -1.000000,  0.000000,  0.00 },
+	{  1.000000,  0.000000,  0.00 },
+};
+
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
@@ -165,6 +172,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
 	&_config_octa_cox[0],
+	&_config_duorotor[0],
 };
 const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */
@@ -177,6 +185,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	8, /* octa_x */
 	8, /* octa_plus */
 	8, /* octa_cox */
+	2, /* twin_engine */
 };
 
 }
@@ -274,6 +283,8 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "8c")) {
 		geometry = MultirotorMixer::OCTA_COX;
 
+	} else if (!strcmp(geomname, "2-")) {
+		geometry = MultirotorMixer::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 b5698036e..18c828578 100755
--- a/src/modules/systemlib/mixer/multi_tables
+++ b/src/modules/systemlib/mixer/multi_tables
@@ -6,6 +6,7 @@
 proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
 proc rcos {a} { expr cos([rad $a])}
 
+
 set quad_x {
 	  45 CCW
 	-135 CCW
@@ -20,12 +21,6 @@ set quad_plus {
 	 180 CW
 }
 
-set quad_v {
-	  68 CCW
-	-136 CCW
-	 -68 CW
-	 136 CW
-}
 
 set quad_wide {
 	  68 CCW
@@ -94,7 +89,9 @@ set octa_cox {
 	-135 CW
 }
 
-set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
+
+set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
+
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 
-- 
cgit v1.2.3