fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 18:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dodeca mixer using the AUX channels (#7532)

Browse Source 
* Added Dodecarotor Mixer

* fixed formatting style

* Renamed dodeca mixers to top and bottom
This commit is contained in:
imcnanie
2017-07-05 13:17:33 -07:00
committed by Lorenz Meier
parent 1e2ce51c6d
commit 629844adff
5 changed files with 82 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/mixer/mixer_multirotor.cpp
+7
View File
@@ -172,6 +172,13 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} 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;
#if 0
} else if (!strcmp(geomname, "8cw")) {
src/modules/systemlib/mixer/multi_tables.py
+18 -1
View File
@@ -195,8 +195,25 @@ tri_y = [
[ 180, 0.0],
]
dodeca_top_cox = [
[ 90, CW],
[ -90, CCW],
[ -30, CW],
[ 150, CCW],
[ 30, CCW],
[-150, CW],
]
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_bottom_cox = [
[ 90, CCW],
[ -90, CW],
[ -30, CCW],
[ 150, CW],
[ 30, CW],
[-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]
def variableName(variable):
for variableName, value in list(globals().items()):