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multirotor mixer: add H configuration

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This commit is contained in:
DroneBuster
2015-11-23 22:00:28 +02:00
parent 6d842bd432
commit 4ee04e3530
2 changed files with 11 additions and 1 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+3
View File
@@ -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
+8 -1
View File
@@ -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()):