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[motor_mixing] add QUAD_X_CCW

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Gautier Hattenberger
2015-05-29 11:58:05 +02:00
parent 1d7ca52bb1
commit 14c675a15c
1 changed files with 23 additions and 6 deletions
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sw/airborne/subsystems/actuators/motor_mixing_types.h
+23 -6
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@@ -27,12 +27,13 @@
#define MOTOR_MIXING_TYPES_H
/* already defined common configurations*/
#define QUAD_PLUS 1
#define QUAD_X 2
#define HEXA_X 3
#define HEXA_PLUS 4
#define OCTO_X 5
#define OCTO_PLUS 6
#define QUAD_PLUS 1
#define QUAD_X 2
#define QUAD_X_CCW 3
#define HEXA_X 4
#define HEXA_PLUS 5
#define OCTO_X 6
#define OCTO_PLUS 7
#if MOTOR_MIXING_TYPE == QUAD_PLUS
/*
@@ -66,6 +67,22 @@
#define MOTOR_MIXING_YAW_COEF { -128, 128, -128, 128 }
#define MOTOR_MIXING_THRUST_COEF { 256, 256, 256, 256 }
#elif MOTOR_MIXING_TYPE == QUAD_X_CCW
/*
* Quadrotor in time cross (X) configuration with motor order (reversed from QUAD_X):
* front left (CCW), front right (CW), back right (CCW), back left (CW)
*/
#define MOTOR_FRONT_LEFT 0
#define MOTOR_FRONT_RIGHT 1
#define MOTOR_BACK_RIGHT 2
#define MOTOR_BACK_LEFT 3
#define MOTOR_MIXING_NB_MOTOR 4
#define MOTOR_MIXING_SCALE 256
#define MOTOR_MIXING_ROLL_COEF { 181, -181, -181, 181 }
#define MOTOR_MIXING_PITCH_COEF { 181, 181, -181, -181 }
#define MOTOR_MIXING_YAW_COEF { 128, -128, 128, -128 }
#define MOTOR_MIXING_THRUST_COEF { 256, 256, 256, 256 }
#elif MOTOR_MIXING_TYPE == HEXA_X
/*
* Hexarotor in time cross (X) configuration with motor order: