From 6b8fbc3c457789cc0d5c3d1bfa21b7155a313ca8 Mon Sep 17 00:00:00 2001
From: Azarakhsh Keipour <keipour@gmail.com>
Date: Fri, 26 Jul 2019 15:41:27 -0400
Subject: [PATCH] Hex TOML: Changed to reflect the omni-8 for now

---
 .../geometries/hex_tilt_x.toml                | 61 +++++++++++--------
 1 file changed, 36 insertions(+), 25 deletions(-)

diff --git a/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
index 7fa9a7b12b..c404192686 100644
--- a/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
+++ b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
@@ -5,42 +5,53 @@ key = "6tx"
 description = "Hexacopter with tilted arms"
 
 [rotor_default]
-#axis      = [0.0, 0.0, -1.0]
 Ct        = 1.0
 Cm        = 0.05
 
 [[rotors]]
-name      = "mid_right"
-axis      = [0.5, 0.0, -0.866025]
-position  = [0.0, 1.0, 0.0]
-direction = "CW"
-
-[[rotors]]
-name      = "mid_left"
-axis      = [0.5, 0.0, -0.866025]
-position  = [0.0, -1.0, 0.0]
+name      = "front_right_top"
+position  = [0.707107, 0.707107, -0.1]
+axis      = [-0.35355, 0.35355, -0.866025]
 direction = "CCW"
 
 [[rotors]]
-name      = "front_left"
-axis      = [-0.25, -0.4330125, -0.866025]
-position  = [0.866025, -0.5, 0.0]
+name     = "front_left_top"
+position = [0.707107, -0.707107, -0.1]
+axis      = [-0.35355, -0.35355, -0.866025]
 direction = "CW"
 
 [[rotors]]
-name      = "rear_right"
-axis      = [-0.25, -0.4330125, -0.866025]
-position  = [-0.866025, 0.5, 0.0]
+name      = "rear_left_top"
+position  = [-0.707107, -0.707107, -0.1]
+axis      = [0.35355, -0.35355, -0.866025]
 direction = "CCW"
 
 [[rotors]]
-name      = "front_right"
-axis      = [-0.25, 0.4330125, -0.866025]
-position  = [0.866025, 0.5, 0.0]
-direction = "CCW"
-
-[[rotors]]
-name      = "rear_left"
-axis      = [-0.25, 0.4330125, -0.866025]
-position  = [-0.866025, -0.5, 0.0]
+name     = "rear_right_top"
+position = [-0.707107, 0.707107, -0.1]
+axis      = [0.35355, 0.35355, -0.866025]
+direction = "CW"
+
+[[rotors]]
+name     = "front_left_bottom"
+position = [0.707107, -0.707107, 0.1]
+axis      = [0.35355, 0.35355, -0.866025]
+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]
+direction = "CCW"
+
+[[rotors]]
+name      = "rear_left_bottom"
+position  = [-0.707107, -0.707107, 0.1]
+axis      = [-0.35355, 0.35355, -0.866025]
 direction = "CW"