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Moved quad_v and twin_engine to the multi_tables in order to make all the tables been generated automatically

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This commit is contained in:
Anton Matosov
2015-01-04 19:46:29 +02:00
parent 55741be473
commit c4471d77d7
2 changed files with 76 additions and 69 deletions
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src/modules/systemlib/mixer/multi_tables
+14 -5
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@@ -21,6 +21,12 @@ set quad_plus {
180 CW
}
set quad_v {
18.8 0.4242
-18.8 1.0
-18.8 -0.4242
18.8 -1.0
}
set quad_wide {
68 CCW
@@ -89,11 +95,14 @@ set octa_cox {
-135 CW
}
set twin_engine {
90 0.0
-90 0.0
}
set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
foreach table $tables {
puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
@@ -101,9 +110,9 @@ foreach table $tables {
upvar #0 $table angles
foreach {angle dir} $angles {
if {$dir == "CW"} {
set dd 1.0
} else if {$dir == "CCW"} {
set dd -1.0
} elseif {$dir == "CCW"} {
set dd 1.0
} else {
set dd $dir
}