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tricopter initial commit

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This commit is contained in:
Trent Lukaczyk 2015-02-05 20:18:00 -08:00
parent d036fa10c1
commit af8e76ee7e
3 changed files with 30 additions and 1 deletions
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19
ROMFS/px4fmu_common/init.d/rc.autostart
View File

@ -16,6 +16,7 @@
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
# 13000 .. 13999 VTOL
# 14000 .. 14999 Tri Y
#
# Simulation
@ -266,3 +267,21 @@ if param compare SYS_AUTOSTART 13002
then
sh /etc/init.d/13002_firefly6
fi
#
# TriCopter Y Yaw+
#
if param compare SYS_AUTOSTART 14001
then
sh /etc/init.d/14001_tri_y_yaw+
fi
#
# TriCopter Y Yaw-
#
if param compare SYS_AUTOSTART 14002
then
sh /etc/init.d/14002_tri_y_yaw-
fi

4
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -177,6 +177,10 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "2-")) {
geometry = MultirotorGeometry::TWIN_ENGINE;
} else if (!strcmp(geomname, "3y")) {
geometry = MultirotorGeometry::TRI_Y;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;

8
src/modules/systemlib/mixer/multi_tables.py
View File

@ -155,8 +155,14 @@ twin_engine = [
[-90, 0.0],
]
tri_y = [
[ 60, 0.0],
[ -60, 0.0],
[ 180, 0.0],
]
tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine, tri_y]
def variableName(variable):
for variableName, value in list(globals().items()):