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Moved quad_v and twin_engine to the multi_tables in order to make all the tables been generated automatically

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This commit is contained in:
Anton Matosov
2015-01-04 18:58:57 +02:00
parent 55741be473
commit c4471d77d7
2 changed files with 76 additions and 69 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+62 -64
View File
@@ -78,89 +78,87 @@ float constrain(float val, float min, float max)
*/ */
const MultirotorMixer::Rotor _config_quad_x[] = { const MultirotorMixer::Rotor _config_quad_x[] = {
{ -0.707107, 0.707107, 1.00 }, { -0.707107, 0.707107, 1.000000 },
{ 0.707107, -0.707107, 1.00 }, { 0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.00 }, { 0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, -1.00 }, { -0.707107, -0.707107, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_quad_plus[] = { const MultirotorMixer::Rotor _config_quad_plus[] = {
{ -1.000000, 0.000000, 1.00 }, { -1.000000, 0.000000, 1.000000 },
{ 1.000000, 0.000000, 1.00 }, { 1.000000, 0.000000, 1.000000 },
{ 0.000000, 1.000000, -1.00 }, { 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, -1.00 }, { -0.000000, -1.000000, -1.000000 },
}; };
//Add table for quad in V configuration, which is not generated by multi_tables!
const MultirotorMixer::Rotor _config_quad_v[] = { const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.3223, 0.9466, 0.4242 }, { -0.322266, 0.946649, 0.424200 },
{ 0.3223, -0.9466, 1.0000 }, { 0.322266, 0.946649, 1.000000 },
{ 0.3223, 0.9466, -0.4242 }, { 0.322266, 0.946649, -0.424200 },
{ -0.3223, -0.9466, -1.0000 }, { -0.322266, 0.946649, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_quad_wide[] = { const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.00 }, { -0.927184, 0.374607, 1.000000 },
{ 0.777146, -0.629320, 1.00 }, { 0.777146, -0.629320, 1.000000 },
{ 0.927184, 0.374607, -1.00 }, { 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.00 }, { -0.777146, -0.629320, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_hex_x[] = { const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 }, { -1.000000, 0.000000, -1.000000 },
{ 1.000000, 0.000000, 1.00 }, { 1.000000, 0.000000, 1.000000 },
{ 0.500000, 0.866025, -1.00 }, { 0.500000, 0.866025, -1.000000 },
{ -0.500000, -0.866025, 1.00 }, { -0.500000, -0.866025, 1.000000 },
{ -0.500000, 0.866025, 1.00 }, { -0.500000, 0.866025, 1.000000 },
{ 0.500000, -0.866025, -1.00 }, { 0.500000, -0.866025, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_hex_plus[] = { const MultirotorMixer::Rotor _config_hex_plus[] = {
{ 0.000000, 1.000000, -1.00 }, { 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, 1.00 }, { -0.000000, -1.000000, 1.000000 },
{ 0.866025, -0.500000, -1.00 }, { 0.866025, -0.500000, -1.000000 },
{ -0.866025, 0.500000, 1.00 }, { -0.866025, 0.500000, 1.000000 },
{ 0.866025, 0.500000, 1.00 }, { 0.866025, 0.500000, 1.000000 },
{ -0.866025, -0.500000, -1.00 }, { -0.866025, -0.500000, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_hex_cox[] = { const MultirotorMixer::Rotor _config_hex_cox[] = {
{ -0.866025, 0.500000, -1.00 }, { -0.866025, 0.500000, -1.000000 },
{ -0.866025, 0.500000, 1.00 }, { -0.866025, 0.500000, 1.000000 },
{ -0.000000, -1.000000, -1.00 }, { -0.000000, -1.000000, -1.000000 },
{ -0.000000, -1.000000, 1.00 }, { -0.000000, -1.000000, 1.000000 },
{ 0.866025, 0.500000, -1.00 }, { 0.866025, 0.500000, -1.000000 },
{ 0.866025, 0.500000, 1.00 }, { 0.866025, 0.500000, 1.000000 },
}; };
const MultirotorMixer::Rotor _config_octa_x[] = { const MultirotorMixer::Rotor _config_octa_x[] = {
{ -0.382683, 0.923880, -1.00 }, { -0.382683, 0.923880, -1.000000 },
{ 0.382683, -0.923880, -1.00 }, { 0.382683, -0.923880, -1.000000 },
{ -0.923880, 0.382683, 1.00 }, { -0.923880, 0.382683, 1.000000 },
{ -0.382683, -0.923880, 1.00 }, { -0.382683, -0.923880, 1.000000 },
{ 0.382683, 0.923880, 1.00 }, { 0.382683, 0.923880, 1.000000 },
{ 0.923880, -0.382683, 1.00 }, { 0.923880, -0.382683, 1.000000 },
{ 0.923880, 0.382683, -1.00 }, { 0.923880, 0.382683, -1.000000 },
{ -0.923880, -0.382683, -1.00 }, { -0.923880, -0.382683, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_octa_plus[] = { const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 0.000000, 1.000000, -1.00 }, { 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, -1.00 }, { -0.000000, -1.000000, -1.000000 },
{ -0.707107, 0.707107, 1.00 }, { -0.707107, 0.707107, 1.000000 },
{ -0.707107, -0.707107, 1.00 }, { -0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, 1.00 }, { 0.707107, 0.707107, 1.000000 },
{ 0.707107, -0.707107, 1.00 }, { 0.707107, -0.707107, 1.000000 },
{ 1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, -1.000000 },
{ -1.000000, 0.000000, -1.00 }, { -1.000000, 0.000000, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_octa_cox[] = { const MultirotorMixer::Rotor _config_octa_cox[] = {
{ -0.707107, 0.707107, 1.00 }, { -0.707107, 0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.00 }, { 0.707107, 0.707107, -1.000000 },
{ 0.707107, -0.707107, 1.00 }, { 0.707107, -0.707107, 1.000000 },
{ -0.707107, -0.707107, -1.00 }, { -0.707107, -0.707107, -1.000000 },
{ 0.707107, 0.707107, 1.00 }, { 0.707107, 0.707107, 1.000000 },
{ -0.707107, 0.707107, -1.00 }, { -0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, 1.00 }, { -0.707107, -0.707107, 1.000000 },
{ 0.707107, -0.707107, -1.00 }, { 0.707107, -0.707107, -1.000000 },
}; };
const MultirotorMixer::Rotor _config_duorotor[] = { const MultirotorMixer::Rotor _config_twin_engine[] = {
{ -1.000000, 0.000000, 0.00 }, { -1.000000, 0.000000, 0.000000 },
{ 1.000000, 0.000000, 0.00 }, { 1.000000, 0.000000, 0.000000 },
}; };
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = { const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0], &_config_quad_x[0],
&_config_quad_plus[0], &_config_quad_plus[0],
@@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_octa_x[0], &_config_octa_x[0],
&_config_octa_plus[0], &_config_octa_plus[0],
&_config_octa_cox[0], &_config_octa_cox[0],
&_config_duorotor[0], &_config_twin_engine[0],
}; };
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = { const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */ 4, /* quad_x */
src/modules/systemlib/mixer/multi_tables
+14 -5
View File
@@ -21,6 +21,12 @@ set quad_plus {
180 CW 180 CW
} }
set quad_v {
18.8 0.4242
-18.8 1.0
-18.8 -0.4242
18.8 -1.0
}
set quad_wide { set quad_wide {
68 CCW 68 CCW
@@ -89,11 +95,14 @@ set octa_cox {
-135 CW -135 CW
} }
set twin_engine {
90 0.0
-90 0.0
}
set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox} set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
foreach table $tables { foreach table $tables {
puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
@@ -101,9 +110,9 @@ foreach table $tables {
upvar #0 $table angles upvar #0 $table angles
foreach {angle dir} $angles { foreach {angle dir} $angles {
if {$dir == "CW"} { if {$dir == "CW"} {
set dd 1.0
} else if {$dir == "CCW"} {
set dd -1.0 set dd -1.0
} elseif {$dir == "CCW"} {
set dd 1.0
} else { } else {
set dd $dir set dd $dir
} }