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Merge remote-tracking branch 'upstream/master' into dev_ros

Browse Source 
Conflicts:
	src/examples/subscriber/subscriber_params.c
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
	src/modules/uORB/topics/vehicle_attitude_setpoint.h
	src/platforms/px4_middleware.h
This commit is contained in:
Thomas Gubler
2014-12-18 12:08:39 +01:00
parent 4402d7106b 6e874bed50
commit 16618f1ada
34 changed files with 1609 additions and 334 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/mixer/mixer.h
+1
View File
@@ -466,6 +466,7 @@ public:
OCTA_X,
OCTA_PLUS,
OCTA_COX,
TWIN_ENGINE, /**< VTOL: one engine on each wing */
MAX_GEOMETRY
};
src/modules/systemlib/mixer/mixer_multirotor.cpp
+15 -4
View File
@@ -76,6 +76,7 @@ float constrain(float val, float min, float max)
/*
* 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 },
@@ -88,11 +89,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
//Add table for quad in V configuration, which is not generated by multi_tables!
const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.694658, -0.719340, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.694658, -0.719340, -1.00 },
{ -0.3223, 0.9466, 0.4242 },
{ 0.3223, -0.9466, 1.0000 },
{ 0.3223, 0.9466, -0.4242 },
{ -0.3223, -0.9466, -1.0000 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.00 },
@@ -154,6 +156,11 @@ const MultirotorMixer::Rotor _config_octa_cox[] = {
{ -0.707107, -0.707107, 1.00 },
{ 0.707107, -0.707107, -1.00 },
};
const MultirotorMixer::Rotor _config_duorotor[] = {
{ -1.000000, 0.000000, 0.00 },
{ 1.000000, 0.000000, 0.00 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
@@ -165,6 +172,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
&_config_duorotor[0],
};
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
@@ -177,6 +185,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
8, /* octa_x */
8, /* octa_plus */
8, /* octa_cox */
2, /* twin_engine */
};
}
@@ -274,6 +283,8 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "8c")) {
geometry = MultirotorMixer::OCTA_COX;
} else if (!strcmp(geomname, "2-")) {
geometry = MultirotorMixer::TWIN_ENGINE;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
src/modules/systemlib/mixer/multi_tables
+4 -7
View File
@@ -6,6 +6,7 @@
proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
proc rcos {a} { expr cos([rad $a])}
set quad_x {
45 CCW
-135 CCW
@@ -20,12 +21,6 @@ set quad_plus {
180 CW
}
set quad_v {
68 CCW
-136 CCW
-68 CW
136 CW
}
set quad_wide {
68 CCW
@@ -94,7 +89,9 @@ set octa_cox {
-135 CW
}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}