Merge pull request #3253 from DroneBuster/quad_h

Mixer for H configuration

ROMFS/px4fmu_common/mixers/quad_h.main.mix

@@ -0,0 +1,26 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the H configuration.  All controls
+are mixed 100%.
+
+R: 4h 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -150,6 +150,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4x")) {
 		geometry = MultirotorGeometry::QUAD_X;
 
+	} else if (!strcmp(geomname, "4h")) {
+		geometry = MultirotorGeometry::QUAD_H;
+
 	} else if (!strcmp(geomname, "4v")) {
 		geometry = MultirotorGeometry::QUAD_V;
 

src/modules/systemlib/mixer/multi_tables.py

@@ -62,6 +62,13 @@ quad_x = [
     [135,  CW],
 ]
 
+quad_h = [
+    [  45, CW],
+    [-135, CW],
+    [-45,  CCW],
+    [135,  CCW],
+]
+
 quad_plus = [
     [  90, CCW],
     [ -90, CCW],
@@ -162,7 +169,7 @@ tri_y = [
 ]
 
 
-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, tri_y]
+tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine, tri_y]
 
 def variableName(variable):
     for variableName, value in list(globals().items()):