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[tools] motor_mixing script with fixed normalization

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This commit is contained in:
Felix Ruess
2015-07-09 23:09:30 +02:00
parent f8f215a0ca
commit 3fb7080cb4
1 changed files with 7 additions and 5 deletions
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sw/tools/motor_mixing.py
+7 -5
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@@ -58,10 +58,8 @@ class MotorMixing(object):
# normalize roll/pitch to the largest of both
# normalize yaw to 0.5
# and transpose
rp_max = np.fabs(B[:, 0:2]).max()
#rp_max = np.fabs(np.linalg.norm(B[:, 0:2])).max()
#rp_max = np.fabs(np.sum(B[:, 0:2], axis=1)).max()
#rp_max = 2
max_lever = np.fabs(input_matrix[0:2, :]).max()
rp_max = np.fabs(B[:, 0:2]).max() / max_lever
y_max = 2 * np.fabs(B[:, 2]).max()
n = np.array([rp_max, rp_max, y_max])
B_nt = (B / n).T
@@ -114,7 +112,6 @@ if __name__ == '__main__':
# first rotor is front left
mm.add_rotors(4, np.radians(-45))
mm.print_xml()
print("Ahrg, normalization not correct if there is no rotor on x or y axis!")
print("\nExample for hexa in + configuration:")
mm.clear_rotors()
@@ -126,6 +123,11 @@ if __name__ == '__main__':
mm.add_rotors(6, np.radians(-30))
mm.print_xml()
mm.clear_rotors()
print("\nExample for octo in x configuration:")
mm.add_rotors(8, np.radians(-22.5))
mm.print_xml()
print("\nExample for hexa in slight V configuration:")
mm.clear_rotors()
mm.add_rotor(-0.35, 0.17, mm.CW)