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Merge branch 'master' of github.com:PX4/Firmware into mathlib

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Lorenz Meier
2013-01-08 00:02:57 +01:00
parent 91dba46524 e24dd0f684
commit 2169e1f808
2 changed files with 44 additions and 40 deletions
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apps/systemlib/mixer/mixer_multirotor.cpp
+42 -38
View File
@@ -56,9 +56,13 @@
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
//#include <debug.h>
//#define debug(fmt, args...) lib_lowprintf(fmt "\n", ##args)
#define CW (-1.0f)
#define CCW (1.0f)
/*
* Clockwise: 1
* Counter-clockwise: -1
*/
namespace
{
@@ -67,52 +71,52 @@ namespace
* 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 },
{ 0.707107, 0.707107, 1.00 },
{ -0.707107, -0.707107, 1.00 },
{ -0.707107, 0.707107, 1.00 },
{ 0.707107, -0.707107, 1.00 },
{ 0.707107, 0.707107, -1.00 },
{ -0.707107, -0.707107, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_plus[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, -1.00 },
{ 0.000000, 1.000000, 1.00 },
{ -0.000000, -1.000000, 1.00 },
{ -1.000000, 0.000000, 1.00 },
{ 1.000000, 0.000000, 1.00 },
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, 1.00 },
{ 1.000000, 0.000000, -1.00 },
{ 0.500000, 0.866025, 1.00 },
{ -0.500000, -0.866025, -1.00 },
{ -0.500000, 0.866025, -1.00 },
{ 0.500000, -0.866025, 1.00 },
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
{ 0.500000, 0.866025, -1.00 },
{ -0.500000, -0.866025, 1.00 },
{ -0.500000, 0.866025, 1.00 },
{ 0.500000, -0.866025, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_plus[] = {
{ 0.000000, 1.000000, 1.00 },
{ -0.000000, -1.000000, -1.00 },
{ 0.866025, -0.500000, 1.00 },
{ -0.866025, 0.500000, -1.00 },
{ 0.866025, 0.500000, -1.00 },
{ -0.866025, -0.500000, 1.00 },
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, 1.00 },
{ 0.866025, -0.500000, -1.00 },
{ -0.866025, 0.500000, 1.00 },
{ 0.866025, 0.500000, 1.00 },
{ -0.866025, -0.500000, -1.00 },
};
const MultirotorMixer::Rotor _config_octa_x[] = {
{ -0.382683, 0.923880, 1.00 },
{ 0.382683, -0.923880, 1.00 },
{ -0.923880, 0.382683, -1.00 },
{ -0.382683, -0.923880, -1.00 },
{ 0.382683, 0.923880, -1.00 },
{ 0.923880, -0.382683, -1.00 },
{ 0.923880, 0.382683, 1.00 },
{ -0.923880, -0.382683, 1.00 },
{ -0.382683, 0.923880, -1.00 },
{ 0.382683, -0.923880, -1.00 },
{ -0.923880, 0.382683, 1.00 },
{ -0.382683, -0.923880, 1.00 },
{ 0.382683, 0.923880, 1.00 },
{ 0.923880, -0.382683, 1.00 },
{ 0.923880, 0.382683, -1.00 },
{ -0.923880, -0.382683, -1.00 },
};
const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 0.000000, 1.000000, 1.00 },
{ -0.000000, -1.000000, 1.00 },
{ -0.707107, 0.707107, -1.00 },
{ -0.707107, -0.707107, -1.00 },
{ 0.707107, 0.707107, -1.00 },
{ 0.707107, -0.707107, -1.00 },
{ 1.000000, 0.000000, 1.00 },
{ -1.000000, 0.000000, 1.00 },
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
{ -0.707107, 0.707107, 1.00 },
{ -0.707107, -0.707107, 1.00 },
{ 0.707107, 0.707107, 1.00 },
{ 0.707107, -0.707107, 1.00 },
{ 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, -1.00 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
&_config_quad_x[0],
apps/systemlib/mixer/multi_tables
+2 -2
View File
@@ -70,9 +70,9 @@ foreach table $tables {
upvar #0 $table angles
foreach {angle dir} $angles {
if {$dir == "CW"} {
set dd -1.0
} else {
set dd 1.0
} else {
set dd -1.0
}
factors $angle $dd
}