From e4bfd78847283491309328e54acc3ffdd4073712 Mon Sep 17 00:00:00 2001
From: Julian Oes <joes@student.ethz.ch>
Date: Wed, 2 Jan 2013 13:29:33 -0800
Subject: [PATCH 1/2] Attention: flipped the yaw direction of multirotors in
 order to be compatible to APM

---
 apps/systemlib/mixer/mixer_multirotor.cpp | 75 +++++++++++------------
 apps/systemlib/mixer/multi_tables         |  4 +-
 2 files changed, 38 insertions(+), 41 deletions(-)

diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index b5b25e5320..e293b1a2f8 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -54,9 +54,6 @@
 
 #include "mixer.h"
 
-#define		CW		(-1.0f)
-#define		CCW		(1.0f)
-
 namespace
 {
 
@@ -64,52 +61,52 @@ 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],
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables
index 2c4a5abed9..f17ae30ca6 100755
--- a/apps/systemlib/mixer/multi_tables
+++ b/apps/systemlib/mixer/multi_tables
@@ -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
 	}

From e24dd0f684eb118a5052919c555d3e06ce8c569b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 7 Jan 2013 22:23:24 +0100
Subject: [PATCH 2/2] Fixed minor compile error

---
 apps/systemlib/mixer/mixer_multirotor.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
index 9090dcafe6..5fdc92c6a5 100644
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ b/apps/systemlib/mixer/mixer_multirotor.cpp
@@ -54,6 +54,11 @@
 
 #include "mixer.h"
 
+#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)
+
 /*
  * Clockwise: 1
  * Counter-clockwise: -1