fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 09:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added a config for quads with a wide arm config.

Browse Source
This commit is contained in:
Simon Wilks
2013-05-02 07:10:23 +02:00
parent d6e9a35aa2
commit ddf1b27697
4 changed files with 22 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/systemlib/mixer/mixer_multirotor.cpp
+11
View File
@@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = {
{ 0.927184, 0.374607, -1.00 },
{ -0.694658, -0.719340, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.777146, -0.629320, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.777146, -0.629320, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
@@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
&_config_quad_wide[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_octa_x[0],
@@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
4, /* quad_wide */
6, /* hex_x */
6, /* hex_plus */
8, /* octa_x */
@@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorMixer::QUAD_V;
} else if (!strcmp(geomname, "4w")) {
geometry = MultirotorMixer::QUAD_WIDE;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;