tricopter initial commit

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -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
+
+

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -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;

src/modules/systemlib/mixer/multi_tables.py

@@ -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()):