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Mixers: use key list to select multirotor mixer

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This commit is contained in:
Julien Lecoeur 2017-10-05 14:53:59 +02:00 committed by Beat Küng
parent aa789f5e8a
commit 4991ab5362
2 changed files with 26 additions and 58 deletions
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64
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -100,7 +100,7 @@ MultirotorMixer::~MultirotorMixer()
MultirotorMixer *
MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
{
MultirotorGeometry geometry;
MultirotorGeometry geometry = MultirotorGeometry::MAX_GEOMETRY;
char geomname[8];
int s[4];
int used;
@ -129,61 +129,15 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
if (!strcmp(geomname, "4+")) {
geometry = MultirotorGeometry::QUAD_PLUS;
for (MultirotorGeometryUnderlyingType i = 0; i < (MultirotorGeometryUnderlyingType)MultirotorGeometry::MAX_GEOMETRY;
i++) {
if (!strcmp(geomname, _config_key[i])) {
geometry = (MultirotorGeometry)i;
break;
}
}
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorGeometry::QUAD_X;
} else if (!strcmp(geomname, "4h")) {
geometry = MultirotorGeometry::QUAD_H;
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorGeometry::QUAD_V;
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorGeometry::QUAD_WIDE;
} else if (!strcmp(geomname, "4s")) {
geometry = MultirotorGeometry::QUAD_S250AQ;
} else if (!strcmp(geomname, "4dc")) {
geometry = MultirotorGeometry::QUAD_DEADCAT;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorGeometry::HEX_PLUS;
} else if (!strcmp(geomname, "6x")) {
geometry = MultirotorGeometry::HEX_X;
} else if (!strcmp(geomname, "6c")) {
geometry = MultirotorGeometry::HEX_COX;
} else if (!strcmp(geomname, "6t")) {
geometry = MultirotorGeometry::HEX_T;
} else if (!strcmp(geomname, "8+")) {
geometry = MultirotorGeometry::OCTA_PLUS;
} else if (!strcmp(geomname, "8x")) {
geometry = MultirotorGeometry::OCTA_X;
} else if (!strcmp(geomname, "8c")) {
geometry = MultirotorGeometry::OCTA_COX;
} else if (!strcmp(geomname, "6m")) {
geometry = MultirotorGeometry::DODECA_TOP_COX;
} else if (!strcmp(geomname, "6a")) {
geometry = MultirotorGeometry::DODECA_BOTTOM_COX;
} else if (!strcmp(geomname, "2-")) {
geometry = MultirotorGeometry::TWIN_ENGINE;
} else if (!strcmp(geomname, "3y")) {
geometry = MultirotorGeometry::TRI_Y;
} else {
if (geometry == MultirotorGeometry::MAX_GEOMETRY) {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
}

20
src/modules/systemlib/mixer/multi_tables.py
View File

@ -201,7 +201,7 @@ dodeca_top_cox = [
[ -30, CW],
[ 150, CCW],
[ 30, CCW],
[-150, CW],
[-150, CW],
]
dodeca_bottom_cox = [
@ -213,7 +213,16 @@ dodeca_bottom_cox = [
[-150, CCW],
]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y, dodeca_top_cox, dodeca_bottom_cox]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat,
hex_x, hex_plus, hex_cox, hex_t,
octa_x, octa_plus, octa_cox, octa_cox_wide,
twin_engine, tri_y,
dodeca_top_cox, dodeca_bottom_cox]
keys = ["4x", "4h", "4+", "4v", "4w", "4s", "4dc",
"6x", "6+", "6c", "6t",
"8x", "8+", "8c", "8cw",
"2-", "3y",
"6m", "6a"]
def variableName(variable):
for variableName, value in list(globals().items()):
@ -256,7 +265,11 @@ def printScaleTablesCounts():
print("\t{}, /* {} */".format(len(table), variableName(table)))
print("};\n")
def printScaleTablesKeys():
print("const char* _config_key[] = {")
for key, table in zip(keys, tables):
print("\t\"{}\",\t/* {} */".format(key, variableName(table)))
print("};\n")
printEnum()
@ -264,6 +277,7 @@ print("namespace {")
printScaleTables()
printScaleTablesIndex()
printScaleTablesCounts()
printScaleTablesKeys()
print("} // anonymous namespace\n")
print("#endif /* _MIXER_MULTI_TABLES */")