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Added mixer and gazebo model for the tilted-arm hexarotor

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Azarakhsh Keipour
2020-01-21 18:23:06 -05:00
parent 6b8fbc3c45
commit 4bcf796a89
5 changed files with 83 additions and 36 deletions
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src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
+20 -31
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@@ -1,57 +1,46 @@
# Hexacopter in with tilted arms
[info]
key = "6tx"
key = "6xt"
description = "Hexacopter with tilted arms"
[rotor_default]
# No default axis, each rotor has different axis
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right_top"
position = [0.707107, 0.707107, -0.1]
axis = [-0.35355, 0.35355, -0.866025]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.707107, -0.707107, -0.1]
axis = [-0.35355, -0.35355, -0.866025]
name = "mid_right"
axis = [0.5, 0.0, -0.866025]
position = [0.0, 1.0, 0.0]
direction = "CW"
[[rotors]]
name = "rear_left_top"
position = [-0.707107, -0.707107, -0.1]
axis = [0.35355, -0.35355, -0.866025]
name = "mid_left"
axis = [0.5, 0.0, -0.866025]
position = [0.0, -1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_right_top"
position = [-0.707107, 0.707107, -0.1]
axis = [0.35355, 0.35355, -0.866025]
name = "front_left"
axis = [-0.25, -0.4330125, -0.866025]
position = [0.866025, -0.5, 0.0]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.707107, -0.707107, 0.1]
axis = [0.35355, 0.35355, -0.866025]
name = "rear_right"
axis = [-0.25, -0.4330125, -0.866025]
position = [-0.866025, 0.5, 0.0]
direction = "CCW"
[[rotors]]
name = "front_right_bottom"
position = [0.707107, 0.707107, 0.1]
axis = [0.35355, -0.35355, -0.866025]
direction = "CW"
[[rotors]]
name = "rear_right_bottom"
position = [-0.707107, 0.707107, 0.1]
axis = [-0.35355, -0.35355, -0.866025]
name = "front_right"
axis = [-0.25, 0.4330125, -0.866025]
position = [0.866025, 0.5, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left_bottom"
position = [-0.707107, -0.707107, 0.1]
axis = [-0.35355, 0.35355, -0.866025]
name = "rear_left"
axis = [-0.25, 0.4330125, -0.866025]
position = [-0.866025, -0.5, 0.0]
direction = "CW"