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Merge pull request #1581 from anton-matosov/master

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Made all the multirotor tables been generated by multi_table script
This commit is contained in:
Lorenz Meier
2015-01-04 20:49:39 +01:00
parent 79bff47692 c4471d77d7
commit 025566b99f
2 changed files with 77 additions and 68 deletions
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126
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@@ -78,89 +78,87 @@ float constrain(float val, float min, float max)
*/
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, 1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, -1.000000 },
};
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, 1.000000 },
{ 1.000000, 0.000000, 1.000000 },
{ 0.000000, 1.000000, -1.000000 },
{ -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[] = {
{ -0.3223, 0.9466, 0.4242 },
{ 0.3223, -0.9466, 1.0000 },
{ 0.3223, 0.9466, -0.4242 },
{ -0.3223, -0.9466, -1.0000 },
{ -0.322266, 0.946649, 0.424200 },
{ 0.322266, 0.946649, 1.000000 },
{ 0.322266, 0.946649, -0.424200 },
{ -0.322266, 0.946649, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.777146, -0.629320, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.777146, -0.629320, -1.00 },
{ -0.927184, 0.374607, 1.000000 },
{ 0.777146, -0.629320, 1.000000 },
{ 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.000000 },
};
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, -1.000000 },
{ 1.000000, 0.000000, 1.000000 },
{ 0.500000, 0.866025, -1.000000 },
{ -0.500000, -0.866025, 1.000000 },
{ -0.500000, 0.866025, 1.000000 },
{ 0.500000, -0.866025, -1.000000 },
};
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, -1.000000 },
{ -0.000000, -1.000000, 1.000000 },
{ 0.866025, -0.500000, -1.000000 },
{ -0.866025, 0.500000, 1.000000 },
{ 0.866025, 0.500000, 1.000000 },
{ -0.866025, -0.500000, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_cox[] = {
{ -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, -1.000000 },
{ -0.866025, 0.500000, 1.000000 },
{ -0.000000, -1.000000, -1.000000 },
{ -0.000000, -1.000000, 1.000000 },
{ 0.866025, 0.500000, -1.000000 },
{ 0.866025, 0.500000, 1.000000 },
};
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, -1.000000 },
{ 0.382683, -0.923880, -1.000000 },
{ -0.923880, 0.382683, 1.000000 },
{ -0.382683, -0.923880, 1.000000 },
{ 0.382683, 0.923880, 1.000000 },
{ 0.923880, -0.382683, 1.000000 },
{ 0.923880, 0.382683, -1.000000 },
{ -0.923880, -0.382683, -1.000000 },
};
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, -1.000000 },
{ -0.000000, -1.000000, -1.000000 },
{ -0.707107, 0.707107, 1.000000 },
{ -0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, 1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ 1.000000, 0.000000, -1.000000 },
{ -1.000000, 0.000000, -1.000000 },
};
const MultirotorMixer::Rotor _config_octa_cox[] = {
{ -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 },
{ -0.707107, 0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ -0.707107, -0.707107, -1.000000 },
{ 0.707107, 0.707107, 1.000000 },
{ -0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, 1.000000 },
{ 0.707107, -0.707107, -1.000000 },
};
const MultirotorMixer::Rotor _config_duorotor[] = {
{ -1.000000, 0.000000, 0.00 },
{ 1.000000, 0.000000, 0.00 },
const MultirotorMixer::Rotor _config_twin_engine[] = {
{ -1.000000, 0.000000, 0.000000 },
{ 1.000000, 0.000000, 0.000000 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
@@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
&_config_duorotor[0],
&_config_twin_engine[0],
};
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */

19
src/modules/systemlib/mixer/multi_tables
View File

@@ -21,6 +21,12 @@ set quad_plus {
180 CW
}
set quad_v {
18.8 0.4242
-18.8 1.0
-18.8 -0.4242
18.8 -1.0
}
set quad_wide {
68 CCW
@@ -89,11 +95,14 @@ set octa_cox {
-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, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
foreach table $tables {
puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
@@ -101,9 +110,11 @@ foreach table $tables {
upvar #0 $table angles
foreach {angle dir} $angles {
if {$dir == "CW"} {
set dd -1.0
} elseif {$dir == "CCW"} {
set dd 1.0
} else {
set dd -1.0
set dd $dir
}
factors $angle $dd
}