Mixers: Use geometry of SK450 deadcat for both quad_wide (centered CG) and quad_deadcat (off-centered CG)

src/modules/systemlib/mixer/CMakeLists.txt

@@ -38,6 +38,7 @@ set(geom_files
 	quad_h.toml
 	quad_plus.toml
 	quad_wide.toml
+	quad_deadcat.toml
 	quad_x_pusher.toml
 	hex_x.toml
 	hex_plus.toml

src/modules/systemlib/mixer/geoms/quad_deadcat.toml

@@ -1,9 +1,10 @@
-# SK450 DeadCat Quadcopter
+# SK450 DeadCat Quadcopter.
+# Same geometry as quad_wide, except CG is located at intersection of rear arms, so front motors are more loaded.
 
 [info]
 name = "quad_deadcat"
 key = "4dc"
-description = "SK450 DeadCat Quadcopter"
+description = "SK450 DeadCat Quadcopter, CG at intersection of rear arms"
 
 [rotor_default]
 direction = "CW"

src/modules/systemlib/mixer/geoms/quad_wide.toml

@@ -3,7 +3,7 @@
 [info]
 name = "quad_wide"
 key = "4w"
-description = "Generic Quadcopter in wide coax configuration"
+description = "Quadcopter in wide configuration. Same geometry as SK450 Deadcat except the CG is moved backward to load all motors equally"
 
 [rotor_default]
 axis      = [0.0, 0.0, -1.0]
@@ -12,20 +12,20 @@ Cm        = 0.05
 
 [[rotors]]
 name      = "front_right"
-position  = [0.3746066, 0.927184, 0.0]
+position  = [0.1515, 0.245, 0.0]
 direction = "CCW"
 
 [[rotors]]
 name      = "rear_left"
-position  = [-0.62932, -0.777146, 0.0]
+position  = [-0.1515, -0.1875, 0.0]
 direction = "CCW"
 
 [[rotors]]
 name     = "front_left"
-position = [0.3746066, -0.927184, 0.0]
+position = [0.1515, -0.245, 0.0]
 direction = "CW"
 
 [[rotors]]
 name     = "rear_right"
-position = [-0.62932, 0.777146, 0.0]
+position = [-0.1515, 0.1875, 0.0]
 direction = "CW"