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Add mixer config for hexa coax frame

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This commit is contained in:
John Hiesey
2014-05-20 01:01:09 -07:00
parent b250e28abf
commit 56a8f3de0a
4 changed files with 26 additions and 5 deletions
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src/modules/systemlib/mixer/multi_tables
+12 -3
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@@ -52,6 +52,15 @@ set hex_plus {
120 CW
}
set hex_cox {
60 CW
60 CCW
180 CW
180 CCW
-60 CW
-60 CCW
}
set octa_x {
22.5 CW
-157.5 CW
@@ -85,7 +94,7 @@ set octa_cox {
-135 CW
}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
@@ -104,13 +113,13 @@ foreach table $tables {
puts "};"
}
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {"
foreach table $tables {
puts [format "\t&_config_%s\[0\]," $table]
}
puts "};"
puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {"
foreach table $tables {
upvar #0 $table angles
puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]