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Merge pull request #138 from PX4/fix_yaw_direction

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Fix yaw direction
This commit is contained in:
Lorenz Meier
2013-01-07 12:41:36 -08:00
parent 659543f852 41f657e3e5
commit 51b3d6614d
2 changed files with 42 additions and 43 deletions
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apps/systemlib/mixer/mixer_multirotor.cpp
+40 -41
View File
@@ -54,11 +54,10 @@
#include "mixer.h" #include "mixer.h"
#define debug(fmt, args...) do { } while(0) /*
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) * Clockwise: 1
* Counter-clockwise: -1
#define CW (-1.0f) */
#define CCW (1.0f)
namespace namespace
{ {
@@ -67,52 +66,52 @@ namespace
* These tables automatically generated by multi_tables - do not edit. * These tables automatically generated by multi_tables - do not edit.
*/ */
const MultirotorMixer::Rotor _config_quad_x[] = { const MultirotorMixer::Rotor _config_quad_x[] = {
{ -0.707107, 0.707107, -1.00 }, { -0.707107, 0.707107, 1.00 },
{ 0.707107, -0.707107, -1.00 }, { 0.707107, -0.707107, 1.00 },
{ 0.707107, 0.707107, 1.00 }, { 0.707107, 0.707107, -1.00 },
{ -0.707107, -0.707107, 1.00 }, { -0.707107, -0.707107, -1.00 },
}; };
const MultirotorMixer::Rotor _config_quad_plus[] = { const MultirotorMixer::Rotor _config_quad_plus[] = {
{ -1.000000, 0.000000, -1.00 }, { -1.000000, 0.000000, 1.00 },
{ 1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 },
{ 0.000000, 1.000000, 1.00 }, { 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, 1.00 }, { -0.000000, -1.000000, -1.00 },
}; };
const MultirotorMixer::Rotor _config_hex_x[] = { const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, 1.00 }, { -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 },
{ 0.500000, 0.866025, 1.00 }, { 0.500000, 0.866025, -1.00 },
{ -0.500000, -0.866025, -1.00 }, { -0.500000, -0.866025, 1.00 },
{ -0.500000, 0.866025, -1.00 }, { -0.500000, 0.866025, 1.00 },
{ 0.500000, -0.866025, 1.00 }, { 0.500000, -0.866025, -1.00 },
}; };
const MultirotorMixer::Rotor _config_hex_plus[] = { const MultirotorMixer::Rotor _config_hex_plus[] = {
{ 0.000000, 1.000000, 1.00 }, { 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 }, { -0.000000, -1.000000, 1.00 },
{ 0.866025, -0.500000, 1.00 }, { 0.866025, -0.500000, -1.00 },
{ -0.866025, 0.500000, -1.00 }, { -0.866025, 0.500000, 1.00 },
{ 0.866025, 0.500000, -1.00 }, { 0.866025, 0.500000, 1.00 },
{ -0.866025, -0.500000, 1.00 }, { -0.866025, -0.500000, -1.00 },
}; };
const MultirotorMixer::Rotor _config_octa_x[] = { const MultirotorMixer::Rotor _config_octa_x[] = {
{ -0.382683, 0.923880, 1.00 }, { -0.382683, 0.923880, -1.00 },
{ 0.382683, -0.923880, 1.00 }, { 0.382683, -0.923880, -1.00 },
{ -0.923880, 0.382683, -1.00 }, { -0.923880, 0.382683, 1.00 },
{ -0.382683, -0.923880, -1.00 }, { -0.382683, -0.923880, 1.00 },
{ 0.382683, 0.923880, -1.00 }, { 0.382683, 0.923880, 1.00 },
{ 0.923880, -0.382683, -1.00 }, { 0.923880, -0.382683, 1.00 },
{ 0.923880, 0.382683, 1.00 }, { 0.923880, 0.382683, -1.00 },
{ -0.923880, -0.382683, 1.00 }, { -0.923880, -0.382683, -1.00 },
}; };
const MultirotorMixer::Rotor _config_octa_plus[] = { const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 0.000000, 1.000000, 1.00 }, { 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, 1.00 }, { -0.000000, -1.000000, -1.00 },
{ -0.707107, 0.707107, -1.00 }, { -0.707107, 0.707107, 1.00 },
{ -0.707107, -0.707107, -1.00 }, { -0.707107, -0.707107, 1.00 },
{ 0.707107, 0.707107, -1.00 }, { 0.707107, 0.707107, 1.00 },
{ 0.707107, -0.707107, -1.00 }, { 0.707107, -0.707107, 1.00 },
{ 1.000000, 0.000000, 1.00 }, { 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, 1.00 }, { -1.000000, 0.000000, -1.00 },
}; };
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = { const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
&_config_quad_x[0], &_config_quad_x[0],
apps/systemlib/mixer/multi_tables
+2 -2
View File
@@ -70,9 +70,9 @@ foreach table $tables {
upvar #0 $table angles upvar #0 $table angles
foreach {angle dir} $angles { foreach {angle dir} $angles {
if {$dir == "CW"} { if {$dir == "CW"} {
set dd -1.0
} else {
set dd 1.0 set dd 1.0
} else {
set dd -1.0
} }
factors $angle $dd factors $angle $dd
} }