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Mixers: Add geometries

Browse Source 
Mixers: add quad_x, quad_h, quad_plus

Mixers: add quad_deadcat

Set quad_deadcat.toml according to dimensions of SK450 deadcat

Mixers: add hex_x, hex_plus, hex_cox and hex_t

Mixers: add geoms octa_x, octa_plus, octa_cox

Mixers: add wide geoms

Mixers: add tri_y and twin_engine geoms

Mixers: add dodeca geoms

Mixers: Add geom quad_x_pusher
This commit is contained in:
Julien Lecoeur 2017-10-05 15:04:03 +02:00 committed by Beat Küng
parent 2c4228ce98
commit 758d214dd1
19 changed files with 677 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/systemlib/mixer/CMakeLists.txt
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@ -34,7 +34,23 @@
include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(geom_files
quad_x.toml
quad_x.toml
quad_h.toml
quad_plus.toml
quad_wide.toml
quad_x_pusher.toml
hex_x.toml
hex_plus.toml
hex_cox.toml
hex_t.toml
octa_x.toml
octa_plus.toml
octa_cox.toml
octa_cox_wide.toml
twin_engine.toml
tri_y.toml
dodeca_top_cox.toml
dodeca_bottom_cox.toml
)
set(geom_list)

41
src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml Normal file
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# Generic Dodecacopter in X coax configuration, bottom half
[info]
name = "dodeca_bottom_cox"
key = "6a"
description = "Generic Dodecacopter in X coax configuration, bottom half"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "mid_right_bottom"
position = [0.0, 1.0, 0.1]
direction = "CCW"
[[rotors]]
name = "mid_left_bottom"
position = [0.0, -1.0, 0.1]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.866025, -0.5, 0.1]
direction = "CCW"
[[rotors]]
name = "rear_right_bottom"
position = [-0.866025, 0.5, 0.1]
direction = "CW"
[[rotors]]
name = "front_right_bottom"
position = [0.866025, 0.5, 0.1]
direction = "CW"
[[rotors]]
name = "rear_left_bottom"
position = [-0.866025, -0.5, 0.1]
direction = "CCW"

41
src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml Normal file
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@ -0,0 +1,41 @@
# Generic Dodecacopter in X coax configuration, top half
[info]
name = "dodeca_top_cox"
key = "6m"
description = "Generic Dodecacopter in X coax configuration, top half"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "mid_right_top"
position = [0.0, 1.0, -0.1]
direction = "CW"
[[rotors]]
name = "mid_left_top"
position = [0.0, -1.0, -0.1]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.866025, -0.5, -0.1]
direction = "CW"
[[rotors]]
name = "rear_right_top"
position = [-0.866025, 0.5, -0.1]
direction = "CCW"
[[rotors]]
name = "front_right_top"
position = [0.866025, 0.5, -0.1]
direction = "CCW"
[[rotors]]
name = "rear_left_top"
position = [-0.866025, -0.5, -0.1]
direction = "CW"

41
src/modules/systemlib/mixer/geoms/hex_cox.toml Normal file
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@ -0,0 +1,41 @@
# Generic Hexacopter in coaxial configuration
[info]
name = "hex_cox"
key = "6c"
description = "Generic Hexacopter in coaxial configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right_top"
position = [0.5, 0.866, -0.1]
direction = "CW"
[[rotors]]
name = "front_right_bottom"
position = [0.5, 0.866, 0.1]
direction = "CCW"
[[rotors]]
name = "rear_top"
position = [-1.0, 0.0, -0.1]
direction = "CW"
[[rotors]]
name = "rear_bottom"
position = [-1.0, 0.0, 0.1]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.5, -0.866, -0.1]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.5, -0.866, 0.1]
direction = "CCW"

41
src/modules/systemlib/mixer/geoms/hex_plus.toml Normal file
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@ -0,0 +1,41 @@
# Generic Hexacopter in + configuration
[info]
name = "hex_plus"
key = "6+"
description = "Generic Hexacopter in + configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front"
position = [1.0, 0.0, 0.0]
direction = "CW"
[[rotors]]
name = "rear"
position = [-1.0, 0.0, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-0.5, -0.866025, 0.0]
direction = "CW"
[[rotors]]
name = "front_right"
position = [0.5, 0.866025, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.5, -0.866025, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_right"
position = [-0.5, 0.866025, 0.0]
direction = "CW"

41
src/modules/systemlib/mixer/geoms/hex_t.toml Normal file
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@ -0,0 +1,41 @@
# Generic Hexacopter in T configuration
[info]
name = "hex_t"
key = "6t"
description = "Generic Hexacopter in T configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right_top"
position = [0.729, 0.684, 0.1]
direction = "CW"
[[rotors]]
name = "front_right_bottom"
position = [0.729, 0.684, -0.1]
direction = "CCW"
[[rotors]]
name = "rear_top"
position = [-1.0, 0.0, 0.1]
direction = "CW"
[[rotors]]
name = "rear_bottom"
position = [-1.0, 0.0, -0.1]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.729, -0.684, 0.1]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.729, -0.684, -0.1]
direction = "CCW"

41
src/modules/systemlib/mixer/geoms/hex_x.toml Normal file
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@ -0,0 +1,41 @@
# Generic Hexacopter in X configuration
[info]
name = "hex_x"
key = "6x"
description = "Generic Hexacopter in X configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "mid_right"
position = [0.0, 1.0, 0.0]
direction = "CW"
[[rotors]]
name = "mid_left"
position = [0.0, -1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.866025, -0.5, 0.0]
direction = "CW"
[[rotors]]
name = "rear_right"
position = [-0.866025, 0.5, 0.0]
direction = "CCW"
[[rotors]]
name = "front_right"
position = [0.866025, 0.5, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-0.866025, -0.5, 0.0]
direction = "CW"

51
src/modules/systemlib/mixer/geoms/octa_cox.toml Normal file
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@ -0,0 +1,51 @@
# Generic Octacopter in coax configuration
[info]
name = "octa_cox"
key = "8c"
description = "GenericOctacopter in coax configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right_top"
position = [0.707107, 0.707107, -0.1]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.707107, -0.707107, -0.1]
direction = "CW"
[[rotors]]
name = "rear_left_top"
position = [-0.707107, -0.707107, -0.1]
direction = "CCW"
[[rotors]]
name = "rear_right_top"
position = [-0.707107, 0.707107, -0.1]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.707107, -0.707107, 0.1]
direction = "CCW"
[[rotors]]
name = "front_right_bottom"
position = [0.707107, 0.707107, 0.1]
direction = "CW"
[[rotors]]
name = "rear_right_bottom"
position = [-0.707107, 0.707107, 0.1]
direction = "CCW"
[[rotors]]
name = "rear_left_bottom"
position = [-0.707107, -0.707107, 0.1]
direction = "CW"

51
src/modules/systemlib/mixer/geoms/octa_cox_wide.toml Normal file
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@ -0,0 +1,51 @@
# Generic Octacopter in wide coax configuration
[info]
name = "octa_cox_wide"
key = "8cw"
description = "Generic Octacopter in wide coax configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right_top"
position = [0.3746066, 0.927184, -0.1]
direction = "CCW"
[[rotors]]
name = "front_left_top"
position = [0.3746066, -0.927184, -0.1]
direction = "CW"
[[rotors]]
name = "rear_left_top"
position = [-0.62932, -0.777146, -0.1]
direction = "CCW"
[[rotors]]
name = "rear_right_top"
position = [-0.62932, 0.777146, -0.1]
direction = "CW"
[[rotors]]
name = "front_left_bottom"
position = [0.3746066, -0.927184, 0.1]
direction = "CCW"
[[rotors]]
name = "front_right_bottom"
position = [0.3746066, 0.927184, 0.1]
direction = "CW"
[[rotors]]
name = "rear_right_bottom"
position = [-0.62932, 0.777146, 0.1]
direction = "CCW"
[[rotors]]
name = "rear_left_bottom"
position = [-0.62932, -0.777146, 0.1]
direction = "CW"

51
src/modules/systemlib/mixer/geoms/octa_plus.toml Normal file
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@ -0,0 +1,51 @@
# Generic Octacopter in + configuration
[info]
name = "octa_plus"
key = "8+"
description = "Generic Octacopter in + configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front"
position = [1.0, 0.0, 0.0]
direction = "CW"
[[rotors]]
name = "rear"
position = [-1.0, 0.0, 0.0]
direction = "CW"
[[rotors]]
name = "front_right"
position = [0.707107, 0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_right"
position = [-0.707107, 0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.707107, -0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-0.707107, -0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "left"
position = [0.0, -1.0, 0.0]
direction = "CW"
[[rotors]]
name = "right"
position = [0.0, 1.0, 0.0]
direction = "CW"

51
src/modules/systemlib/mixer/geoms/octa_x.toml Normal file
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@ -0,0 +1,51 @@
# Generic Octacopter in X configuration
[info]
name = "octa_x"
key = "8x"
description = "Generic Octacopter in X configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right"
position = [0.9238795, 0.3826834, 0.0]
direction = "CW"
[[rotors]]
name = "rear_left"
position = [-0.9238795, -0.3826834, 0.0]
direction = "CW"
[[rotors]]
name = "mid_front_right"
position = [0.3826834, 0.9238795, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_right"
position = [-0.9238795, 0.3826834, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.9238795, -0.3826834, 0.0]
direction = "CCW"
[[rotors]]
name = "mid_rear_left"
position = [-0.3826834, -0.9238795, 0.0]
direction = "CCW"
[[rotors]]
name = "mid_front_left"
position = [0.3826834, -0.9238795, 0.0]
direction = "CW"
[[rotors]]
name = "mid_rear_right"
position = [-0.3826834, 0.9238795, 0.0]
direction = "CW"

30
src/modules/systemlib/mixer/geoms/quad_deadcat.toml Normal file
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@ -0,0 +1,30 @@
# SK450 DeadCat Quadcopter
[info]
name = "quad_deadcat"
key = "4dc"
description = "SK450 DeadCat Quadcopter"
[rotor_default]
direction = "CW"
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.01
[[rotors]]
name = "front_right"
position = [0.1155, 0.245, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-0.1875, -0.1875, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.1155, -0.245, 0.0]
[[rotors]]
name = "rear_right"
position = [-0.1875, 0.1875, 0.0]

31
src/modules/systemlib/mixer/geoms/quad_h.toml Normal file
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@ -0,0 +1,31 @@
# Generic Quadcopter in H configuration
[info]
name = "quad_h"
key = "4h"
description = "Generic Quadcopter in H configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right"
position = [0.707107, 0.707107, 0.0]
direction = "CW"
[[rotors]]
name = "rear_left"
position = [-0.707107, -0.707107, 0.0]
direction = "CW"
[[rotors]]
name = "front_left"
position = [0.707107, -0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_right"
position = [-0.707107, 0.707107, 0.0]
direction = "CCW"

30
src/modules/systemlib/mixer/geoms/quad_plus.toml Normal file
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@ -0,0 +1,30 @@
# Generic Quadcopter in + configuration
[info]
name = "quad_plus"
key = "4+"
description = "Generic Quadcopter in + configuration"
[rotor_default]
direction = "CW"
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "right"
position = [0.0, 1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "left"
position = [0.0, -1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "front"
position = [1.0, 0.0, 0.0]
[[rotors]]
name = "rear_right"
position = [-1.0, 0.0, 0.0]

31
src/modules/systemlib/mixer/geoms/quad_wide.toml Normal file
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@ -0,0 +1,31 @@
# Generic Quadcopter in wide configuration
[info]
name = "quad_wide"
key = "4w"
description = "Generic Quadcopter in wide coax configuration"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right"
position = [0.3746066, 0.927184, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-0.62932, -0.777146, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [0.3746066, -0.927184, 0.0]
direction = "CW"
[[rotors]]
name = "rear_right"
position = [-0.62932, 0.777146, 0.0]
direction = "CW"

12
src/modules/systemlib/mixer/geoms/quad_x.toml
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@ -1,7 +1,7 @@
# Generic Quadcopter in X configuration
[info]
name = "QUAD_X"
name = "quad_x"
key = "4x"
description = "Generic Quadcopter in X configuration"
@ -9,22 +9,22 @@ description = "Generic Quadcopter in X configuration"
direction = "CW"
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.01
Cm = 0.05
[[rotors]]
name = "front_right"
position = [1.0, 1.0, 0.0]
position = [0.707107, 0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-1.0, -1.0, 0.0]
position = [-0.707107, -0.707107, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [1.0, -1.0, 0.0]
position = [0.707107, -0.707107, 0.0]
[[rotors]]
name = "rear_right"
position = [-1.0, 1.0, 0.0]
position = [-0.707107, 0.707107, 0.0]

38
src/modules/systemlib/mixer/geoms/quad_x_pusher.toml Normal file
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@ -0,0 +1,38 @@
# Quadcopter in X configuration,
# with added pusher motor in the back
[info]
name = "quad_x_pusher"
key = "4x1p"
description = "Quadcopter in X configuration, with added pusher motor in the back"
[rotor_default]
direction = "CW"
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.05
[[rotors]]
name = "front_right"
position = [1.0, 1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "rear_left"
position = [-1.0, -1.0, 0.0]
direction = "CCW"
[[rotors]]
name = "front_left"
position = [1.0, -1.0, 0.0]
[[rotors]]
name = "rear_right"
position = [-1.0, 1.0, 0.0]
[[rotors]]
name = "pusher"
position = [-1.0, 0.0, 0.0]
axis = [1.0, 0.0, 0.0]
Ct = 2.0
Cm = 0.0

24
src/modules/systemlib/mixer/geoms/tri_y.toml Normal file
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@ -0,0 +1,24 @@
# Tri Y
[info]
name = "tri_y"
key = "3y"
description = "Tri Y"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.0
direction = "CW"
[[rotors]]
name = "front_right"
position = [0.5, 0.866025, 0.0]
[[rotors]]
name = "front_left"
position = [0.5, -0.866025, 0.0]
[[rotors]]
name = "rear"
position = [-1.0, 0.0, 0.0]

20
src/modules/systemlib/mixer/geoms/twin_engine.toml Normal file
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@ -0,0 +1,20 @@
# Twin engine
[info]
name = "twin_engine"
key = "2-"
description = "Twin engine"
[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct = 1.0
Cm = 0.0
direction = "CW"
[[rotors]]
name = "right"
position = [0.0, 1.0, 0.0]
[[rotors]]
name = "left"
position = [0.0, -1.0, 0.0]