fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 08:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add support for V for quads with offset arms such as the TBS and SteadiDrone QU4D

Browse Source
This commit is contained in:
Simon Wilks
2013-04-25 08:59:48 +02:00
parent d62058eccf
commit 9da16afcc2
3 changed files with 20 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/systemlib/mixer/mixer_multirotor.cpp
+11
View File
@@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.882948, 0.469472, 1.00 },
{ 0.731354, -0.681998, 1.00 },
{ 0.882948, 0.469472, -1.00 },
{ -0.731354, -0.681998, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
@@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_octa_x[0],
@@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
6, /* hex_x */
6, /* hex_plus */
8, /* octa_x */
@@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorMixer::QUAD_X;
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorMixer::QUAD_V;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;