From 758d214dd184d8e5394883dd7ec20263ca6207c0 Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Thu, 5 Oct 2017 15:04:03 +0200 Subject: [PATCH] Mixers: Add geometries 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 --- src/modules/systemlib/mixer/CMakeLists.txt | 18 ++++++- .../mixer/geoms/dodeca_bottom_cox.toml | 41 +++++++++++++++ .../systemlib/mixer/geoms/dodeca_top_cox.toml | 41 +++++++++++++++ .../systemlib/mixer/geoms/hex_cox.toml | 41 +++++++++++++++ .../systemlib/mixer/geoms/hex_plus.toml | 41 +++++++++++++++ src/modules/systemlib/mixer/geoms/hex_t.toml | 41 +++++++++++++++ src/modules/systemlib/mixer/geoms/hex_x.toml | 41 +++++++++++++++ .../systemlib/mixer/geoms/octa_cox.toml | 51 +++++++++++++++++++ .../systemlib/mixer/geoms/octa_cox_wide.toml | 51 +++++++++++++++++++ .../systemlib/mixer/geoms/octa_plus.toml | 51 +++++++++++++++++++ src/modules/systemlib/mixer/geoms/octa_x.toml | 51 +++++++++++++++++++ .../systemlib/mixer/geoms/quad_deadcat.toml | 30 +++++++++++ src/modules/systemlib/mixer/geoms/quad_h.toml | 31 +++++++++++ .../systemlib/mixer/geoms/quad_plus.toml | 30 +++++++++++ .../systemlib/mixer/geoms/quad_wide.toml | 31 +++++++++++ src/modules/systemlib/mixer/geoms/quad_x.toml | 12 ++--- .../systemlib/mixer/geoms/quad_x_pusher.toml | 38 ++++++++++++++ src/modules/systemlib/mixer/geoms/tri_y.toml | 24 +++++++++ .../systemlib/mixer/geoms/twin_engine.toml | 20 ++++++++ 19 files changed, 677 insertions(+), 7 deletions(-) create mode 100644 src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml create mode 100644 src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml create mode 100644 src/modules/systemlib/mixer/geoms/hex_cox.toml create mode 100644 src/modules/systemlib/mixer/geoms/hex_plus.toml create mode 100644 src/modules/systemlib/mixer/geoms/hex_t.toml create mode 100644 src/modules/systemlib/mixer/geoms/hex_x.toml create mode 100644 src/modules/systemlib/mixer/geoms/octa_cox.toml create mode 100644 src/modules/systemlib/mixer/geoms/octa_cox_wide.toml create mode 100644 src/modules/systemlib/mixer/geoms/octa_plus.toml create mode 100644 src/modules/systemlib/mixer/geoms/octa_x.toml create mode 100644 src/modules/systemlib/mixer/geoms/quad_deadcat.toml create mode 100644 src/modules/systemlib/mixer/geoms/quad_h.toml create mode 100644 src/modules/systemlib/mixer/geoms/quad_plus.toml create mode 100644 src/modules/systemlib/mixer/geoms/quad_wide.toml create mode 100644 src/modules/systemlib/mixer/geoms/quad_x_pusher.toml create mode 100644 src/modules/systemlib/mixer/geoms/tri_y.toml create mode 100644 src/modules/systemlib/mixer/geoms/twin_engine.toml diff --git a/src/modules/systemlib/mixer/CMakeLists.txt b/src/modules/systemlib/mixer/CMakeLists.txt index 4b95c1c856..d74238cb40 100644 --- a/src/modules/systemlib/mixer/CMakeLists.txt +++ b/src/modules/systemlib/mixer/CMakeLists.txt @@ -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) diff --git a/src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml b/src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml new file mode 100644 index 0000000000..0c62fcdc3d --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml @@ -0,0 +1,41 @@ +# 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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml b/src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml new file mode 100644 index 0000000000..06a2536f74 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/hex_cox.toml b/src/modules/systemlib/mixer/geoms/hex_cox.toml new file mode 100644 index 0000000000..6d082ca4eb --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/hex_cox.toml @@ -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" diff --git a/src/modules/systemlib/mixer/geoms/hex_plus.toml b/src/modules/systemlib/mixer/geoms/hex_plus.toml new file mode 100644 index 0000000000..da8b5b2f04 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/hex_plus.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/hex_t.toml b/src/modules/systemlib/mixer/geoms/hex_t.toml new file mode 100644 index 0000000000..0ec4cf1174 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/hex_t.toml @@ -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" diff --git a/src/modules/systemlib/mixer/geoms/hex_x.toml b/src/modules/systemlib/mixer/geoms/hex_x.toml new file mode 100644 index 0000000000..2324f1a5d3 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/hex_x.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/octa_cox.toml b/src/modules/systemlib/mixer/geoms/octa_cox.toml new file mode 100644 index 0000000000..cbe863fab0 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/octa_cox.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/octa_cox_wide.toml b/src/modules/systemlib/mixer/geoms/octa_cox_wide.toml new file mode 100644 index 0000000000..0bf1a553ad --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/octa_cox_wide.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/octa_plus.toml b/src/modules/systemlib/mixer/geoms/octa_plus.toml new file mode 100644 index 0000000000..05168b9dc5 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/octa_plus.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/octa_x.toml b/src/modules/systemlib/mixer/geoms/octa_x.toml new file mode 100644 index 0000000000..6ff2a41d10 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/octa_x.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/quad_deadcat.toml b/src/modules/systemlib/mixer/geoms/quad_deadcat.toml new file mode 100644 index 0000000000..c9cc5a3819 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/quad_deadcat.toml @@ -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] diff --git a/src/modules/systemlib/mixer/geoms/quad_h.toml b/src/modules/systemlib/mixer/geoms/quad_h.toml new file mode 100644 index 0000000000..3ce7eeae20 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/quad_h.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/quad_plus.toml b/src/modules/systemlib/mixer/geoms/quad_plus.toml new file mode 100644 index 0000000000..d14a0f6b0a --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/quad_plus.toml @@ -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] diff --git a/src/modules/systemlib/mixer/geoms/quad_wide.toml b/src/modules/systemlib/mixer/geoms/quad_wide.toml new file mode 100644 index 0000000000..a26141c974 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/quad_wide.toml @@ -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" \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/quad_x.toml b/src/modules/systemlib/mixer/geoms/quad_x.toml index 6209e67286..8e7fc4be91 100644 --- a/src/modules/systemlib/mixer/geoms/quad_x.toml +++ b/src/modules/systemlib/mixer/geoms/quad_x.toml @@ -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] diff --git a/src/modules/systemlib/mixer/geoms/quad_x_pusher.toml b/src/modules/systemlib/mixer/geoms/quad_x_pusher.toml new file mode 100644 index 0000000000..29aa4ab279 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/quad_x_pusher.toml @@ -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 diff --git a/src/modules/systemlib/mixer/geoms/tri_y.toml b/src/modules/systemlib/mixer/geoms/tri_y.toml new file mode 100644 index 0000000000..9c060938cc --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/tri_y.toml @@ -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] \ No newline at end of file diff --git a/src/modules/systemlib/mixer/geoms/twin_engine.toml b/src/modules/systemlib/mixer/geoms/twin_engine.toml new file mode 100644 index 0000000000..771b2c8987 --- /dev/null +++ b/src/modules/systemlib/mixer/geoms/twin_engine.toml @@ -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] \ No newline at end of file