mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 07:03:34 +08:00
mixer lib delete old multi_tables.py and cleanup cmake (#8658)
This commit is contained in:
Daniel Agar
@@ -31,30 +31,28 @@
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#
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############################################################################
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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set(geometry_files
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quad_x.toml
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quad_h.toml
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quad_plus.toml
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quad_wide.toml
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quad_deadcat.toml
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quad_vtail.toml
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quad_s250aq.toml
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quad_y.toml
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quad_x_pusher.toml
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hex_x.toml
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hex_plus.toml
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dodeca_bottom_cox.toml
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dodeca_top_cox.toml
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hex_cox.toml
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hex_plus.toml
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hex_t.toml
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octa_x.toml
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octa_plus.toml
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hex_x.toml
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octa_cox.toml
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octa_cox_wide.toml
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twin_engine.toml
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octa_plus.toml
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octa_x.toml
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quad_deadcat.toml
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quad_h.toml
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quad_plus.toml
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quad_s250aq.toml
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quad_vtail.toml
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quad_wide.toml
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quad_x.toml
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quad_x_pusher.toml
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quad_y.toml
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tri_y.toml
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dodeca_top_cox.toml
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dodeca_bottom_cox.toml
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twin_engine.toml
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)
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set(geometries_list)
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@@ -62,39 +60,34 @@ foreach(geom_file ${geometry_files})
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list(APPEND geometries_list ${CMAKE_CURRENT_SOURCE_DIR}/geometries/${geom_file})
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endforeach()
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
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)
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add_custom_target(mixer_gen
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DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
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DEPENDS ${geometries_list})
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set(MIXER_TOOLS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py --normalize -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
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# generate mixers and normalize
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py -f ${geometries_list} -o mixer_multirotor.generated.h
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DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
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)
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add_custom_target(mixer_gen_norm
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DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
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DEPENDS ${geometries_list})
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --normalize -f ${geometries_list} -o mixer_multirotor_normalized.generated.h
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DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
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)
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add_custom_target(mixer_gen DEPENDS mixer_multirotor.generated.h ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py --sixdof -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
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# 6DOF mixers
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add_custom_command(
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OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --sixdof -f ${geometries_list} -o mixer_multirotor_6dof.generated.h
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DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
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)
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add_custom_target(mixer_gen_6dof
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DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
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DEPENDS ${geometries_list})
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add_custom_target(mixer_gen_6dof DEPENDS mixer_multirotor_6dof.generated.h)
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py > ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py
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)
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add_custom_target(mixer_gen_legacy
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DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h)
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px4_add_module(
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MODULE lib__mixer
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INCLUDES
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${CMAKE_CURRENT_BINARY_DIR}
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SRCS
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mixer.cpp
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mixer_group.cpp
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@@ -103,10 +96,7 @@ px4_add_module(
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mixer_multirotor.cpp
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mixer_simple.cpp
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DEPENDS
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platforms__common
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mixer_gen
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mixer_gen_norm
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mixer_gen_6dof
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mixer_gen_legacy
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -1,284 +0,0 @@
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#!/usr/bin/env python
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############################################################################
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#
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# Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Generate multirotor mixer scale tables compatible with the ArduCopter layout
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#
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# for python2.7 compatibility
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from __future__ import print_function
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import math
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print("/*")
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print("* This file is automatically generated by multi_tables - do not edit.")
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print("*/")
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print("")
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print("#ifndef _MIXER_MULTI_TABLES")
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print("#define _MIXER_MULTI_TABLES")
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print("")
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def rcos(angleInRadians):
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return math.cos(math.radians(angleInRadians))
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CCW = 1.0
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CW = -CCW
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quad_x = [
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[ 45, CCW],
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[-135, CCW],
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[-45, CW],
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[135, CW],
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]
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quad_h = [
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[ 45, CW],
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[-135, CW],
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[-45, CCW],
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[135, CCW],
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]
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quad_plus = [
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[ 90, CCW],
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[ -90, CCW],
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[ 0, CW],
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[ 180, CW],
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]
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quad_deadcat = [
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[ 60, CCW, 1.0],
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[-125, CCW, 0.92],
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[ -60, CW, 1.0],
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[ 125, CW, 0.92],
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]
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quad_v = [
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[ 18.8, 0.4242],
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[ -18.8, 1.0],
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[ -18.8, -0.4242],
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[ 18.8, -1.0],
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]
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quad_wide = [
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[ 68, CCW],
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[ -129, CCW],
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[ -68, CW],
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[ 129, CW],
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]
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quad_s250aq = [
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[ 59, CCW, 1.0 ],
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[ -139, CCW, 0.67],
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[ -59, CW, 1.0 ],
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[ 139, CW, 0.67],
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]
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hex_x = [
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[ 90, CW],
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[ -90, CCW],
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[ -30, CW],
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[ 150, CCW],
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[ 30, CCW],
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[-150, CW],
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]
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hex_plus = [
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[ 0, CW],
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[ 180, CCW],
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[-120, CW],
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[ 60, CCW],
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[ -60, CCW],
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[ 120, CW],
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]
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hex_cox = [
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[ 60, CW],
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[ 60, CCW],
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[ 180, CW],
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[ 180, CCW],
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[ -60, CW],
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[ -60, CCW],
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]
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hex_t = [
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[ 43.21, CCW],
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[ 43.21, CW],
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[ 180, CW],
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[ 180, CCW],
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[ -43.21, CW],
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[ -43.21, CCW],
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]
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octa_x = [
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[ 22.5, CW],
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[-157.5, CW],
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[ 67.5, CCW],
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[ 157.5, CCW],
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[ -22.5, CCW],
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[-112.5, CCW],
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[ -67.5, CW],
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[ 112.5, CW],
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]
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octa_plus = [
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[ 0, CW],
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[ 180, CW],
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[ 45, CCW],
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[ 135, CCW],
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[ -45, CCW],
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[-135, CCW],
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[ -90, CW],
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[ 90, CW],
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]
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octa_cox = [
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[ 45, CCW],
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[ -45, CW],
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[-135, CCW],
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[ 135, CW],
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[ -45, CCW],
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[ 45, CW],
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[ 135, CCW],
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[-135, CW],
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]
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octa_cox_wide = [
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[ 68, CCW],
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[ -68, CW],
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[-129, CCW],
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[ 129, CW],
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[ -68, CCW],
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[ 68, CW],
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[ 129, CCW],
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[-129, CW],
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]
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twin_engine = [
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[ 90, 0.0],
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[-90, 0.0],
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]
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tri_y = [
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[ 60, 0.0],
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[ -60, 0.0],
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[ 180, 0.0],
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]
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dodeca_top_cox = [
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[ 90, CW],
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[ -90, CCW],
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[ -30, CW],
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[ 150, CCW],
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[ 30, CCW],
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[-150, CW],
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]
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dodeca_bottom_cox = [
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[ 90, CCW],
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[ -90, CW],
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[ -30, CCW],
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[ 150, CW],
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[ 30, CW],
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[-150, CCW],
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]
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tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat,
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hex_x, hex_plus, hex_cox, hex_t,
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octa_x, octa_plus, octa_cox, octa_cox_wide,
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twin_engine, tri_y,
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dodeca_top_cox, dodeca_bottom_cox]
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keys = ["4x", "4h", "4+", "4v", "4w", "4s", "4dc",
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"6x", "6+", "6c", "6t",
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"8x", "8+", "8c", "8cw",
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"2-", "3y",
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"6m", "6a"]
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def variableName(variable):
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for variableName, value in list(globals().items()):
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if value is variable:
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return variableName
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def unpackScales(scalesList):
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if len(scalesList) == 2:
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scalesList += [1.0] #Add thrust scale
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return scalesList
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def printEnum():
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print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
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for table in tables:
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print("\t{},".format(variableName(table).upper()))
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print("\n\tMAX_GEOMETRY")
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print("}; // enum class MultirotorGeometry\n")
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def printScaleTables():
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for table in tables:
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print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
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for row in table:
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angle, yawScale, thrustScale = unpackScales(row)
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rollScale = rcos(angle + 90)
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pitchScale = rcos(angle)
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print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
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print("};\n")
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def printScaleTablesIndex():
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print("const MultirotorMixer::Rotor *_config_index[] = {")
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for table in tables:
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print("\t&_config_{}[0],".format(variableName(table)))
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print("};\n")
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def printScaleTablesCounts():
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print("const unsigned _config_rotor_count[] = {")
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for table in tables:
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print("\t{}, /* {} */".format(len(table), variableName(table)))
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print("};\n")
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def printScaleTablesKeys():
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print("const char* _config_key[] = {")
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for key, table in zip(keys, tables):
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print("\t\"{}\",\t/* {} */".format(key, variableName(table)))
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print("};\n")
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printEnum()
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print("namespace {")
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printScaleTables()
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printScaleTablesIndex()
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printScaleTablesCounts()
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printScaleTablesKeys()
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print("} // anonymous namespace\n")
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print("#endif /* _MIXER_MULTI_TABLES */")
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print("")
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Block a user