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#!/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
#
# for python2.7 compatibility
from __future__ import print_function
import math
print("/*")
print("* This file is automatically generated by multi_tables - do not edit.")
print("*/")
print("")
print("#ifndef _MIXER_MULTI_TABLES")
print("#define _MIXER_MULTI_TABLES")
print("")
def rcos(angleInRadians):
return math.cos(math.radians(angleInRadians))
CCW = 1.0
CW = -CCW
quad_x = [
[ 45, CCW],
[-135, CCW],
[-45, CW],
[135, CW],
]
quad_plus = [
[ 90, CCW],
[ -90, CCW],
[ 0, CW],
[ 180, CW],
]
quad_v = [
[ 18.8, 0.4242],
[ -18.8, 1.0],
[ -18.8, -0.4242],
[ 18.8, -1.0],
]
quad_wide = [
[ 68, CCW],
[ -129, CCW],
[ -68, CW],
[ 129, CW],
]
hex_x = [
[ 90, CW],
[ -90, CCW],
[ -30, CW],
[ 150, CCW],
[ 30, CCW],
[-150, CW],
]
hex_plus = [
[ 0, CW],
[ 180, CCW],
[-120, CW],
[ 60, CCW],
[ -60, CCW],
[ 120, CW],
]
hex_cox = [
[ 60, CW],
[ 60, CCW],
[ 180, CW],
[ 180, CCW],
[ -60, CW],
[ -60, CCW],
]
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],
]
octa_plus = [
[ 0, CW],
[ 180, CW],
[ 45, CCW],
[ 135, CCW],
[ -45, CCW],
[-135, CCW],
[ -90, CW],
[ 90, CW],
]
octa_cox = [
[ 45, CCW],
[ -45, CW],
[-135, CCW],
[ 135, CW],
[ -45, CCW],
[ 45, CW],
[ 135, CCW],
[-135, CW],
]
twin_engine = [
[ 90, 0.0],
[-90, 0.0],
]
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 printEnum():
print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
for table in tables:
print("\t{},".format(variableName(table).upper()))
print("\n\tMAX_GEOMETRY")
print("}; // enum class MultirotorGeometry\n")
def printScaleTables():
for table in tables:
print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
for (angle, yawScale) in table:
rollScale = rcos(angle + 90)
pitchScale = rcos(angle)
print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
print("};\n")
def printScaleTablesIndex():
print("const MultirotorMixer::Rotor *_config_index[] = {")
for table in tables:
print("\t&_config_{}[0],".format(variableName(table)))
print("};\n")
def printScaleTablesCounts():
print("const unsigned _config_rotor_count[] = {")
for table in tables:
print("\t{}, /* {} */".format(len(table), variableName(table)))
print("};\n")
printEnum()
print("namespace {")
printScaleTables()
printScaleTablesIndex()
printScaleTablesCounts()
print("} // anonymous namespace\n")
print("#endif /* _MIXER_MULTI_TABLES */")
print("")
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