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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
36 lines
1.4 KiB
XML
36 lines
1.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="motor_mixing" dir="actuators" task="actuators">
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<doc>
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<description>
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Motor mixing for multi-rotor systems
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see http://wiki.paparazziuav.org/wiki/Rotorcraft_Configuration#Motor_Mixing
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</description>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0" description="roll trim"/>
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<define name="TRIM_PITCH" value="0" description="pitch trim"/>
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<define name="TRIM_YAW" value="0" description="yaw trim"/>
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<define name="NB_MOTOR" value="4" description="number of motors"/>
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<define name="SCALE" value="256" description="scaling factor"/>
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<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }" description="array of roll coefficient"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }" description="array of pitch coefficient"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256 }" description="array of yaw coefficient"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }" description="array of thurst coefficient"/>
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</section>
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</doc>
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<dep>
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<depends>@commands</depends>
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<provides>mixing</provides>
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</dep>
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<header>
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<file name="motor_mixing.h"/>
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</header>
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<init fun="motor_mixing_init()"/>
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<makefile target="!sim">
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<define name="USE_MOTOR_MIXING"/>
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<file name="motor_mixing.c"/>
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</makefile>
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</module>
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