From e49fb5bf50d3323c494f11986c3a9a880e53029d Mon Sep 17 00:00:00 2001
From: Azarakhsh Keipour <keipour@gmail.com>
Date: Mon, 22 Jul 2019 20:21:23 -0400
Subject: [PATCH] Tilt-Hex: Completed mixer definitions (for now)

---
 .../{6100_tilt_hex => 6100_hexa_tilt_x}       |  2 +-
 ROMFS/px4fmu_common/mixers/CMakeLists.txt     |  4 +-
 ...exa_tilt.main.mix => hexa_tilt_x.main.mix} |  2 +-
 src/lib/mixer/MultirotorMixer/CMakeLists.txt  |  1 +
 .../geometries/hex_tilt_x.toml                | 46 +++++++++++++++++++
 5 files changed, 51 insertions(+), 4 deletions(-)
 rename ROMFS/px4fmu_common/init.d/airframes/{6100_tilt_hex => 6100_hexa_tilt_x} (96%)
 rename ROMFS/px4fmu_common/mixers/{hexa_tilt.main.mix => hexa_tilt_x.main.mix} (52%)
 create mode 100644 src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml

diff --git a/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
similarity index 96%
rename from ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex
rename to ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
index 2dbe69ca64..679f6bc5e0 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/6100_tilt_hex
+++ b/ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
@@ -24,7 +24,7 @@
 sh /etc/init.d/rc.mc_defaults
 
 # Set mixer
-set MIXER hexa_tilt
+set MIXER hexa_tilt_x
 
 # Need to set all 8 channels
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
index ef9f603261..bce45f0043 100644
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -53,8 +53,8 @@ px4_add_romfs_files(
 	generic_diff_rover.main.mix
 	hexa_cox.main.mix
 	hexa_+.main.mix
-        hexa_tilt.main.mix
-	hexa_x.main.mix
+        hexa_tilt_x.main.mix
+        hexa_x.main.mix
 	IO_pass.main.mix
 	mount.aux.mix
 	mount_legs.aux.mix
diff --git a/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix b/ROMFS/px4fmu_common/mixers/hexa_tilt_x.main.mix
similarity index 52%
rename from ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix
rename to ROMFS/px4fmu_common/mixers/hexa_tilt_x.main.mix
index a80cc5df9d..984665ef5c 100644
--- a/ROMFS/px4fmu_common/mixers/hexa_tilt.main.mix
+++ b/ROMFS/px4fmu_common/mixers/hexa_tilt_x.main.mix
@@ -1,3 +1,3 @@
 # Hexarotor with tilted arms
 
-R: 6t 10000 10000 10000 0
+R: 6xt 10000 10000 10000 0
diff --git a/src/lib/mixer/MultirotorMixer/CMakeLists.txt b/src/lib/mixer/MultirotorMixer/CMakeLists.txt
index 4dcf10282a..8c0efc8022 100644
--- a/src/lib/mixer/MultirotorMixer/CMakeLists.txt
+++ b/src/lib/mixer/MultirotorMixer/CMakeLists.txt
@@ -38,6 +38,7 @@ set(geometry_files
 	hex_plus.toml
 	hex_t.toml
 	hex_x.toml
+        hex_tilt_x.toml
 	octa_cox.toml
 	octa_cox_wide.toml
 	octa_plus.toml
diff --git a/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
new file mode 100644
index 0000000000..7fa9a7b12b
--- /dev/null
+++ b/src/lib/mixer/MultirotorMixer/geometries/hex_tilt_x.toml
@@ -0,0 +1,46 @@
+# Hexacopter in with tilted arms
+
+[info]
+key = "6tx"
+description = "Hexacopter with tilted arms"
+
+[rotor_default]
+#axis      = [0.0, 0.0, -1.0]
+Ct        = 1.0
+Cm        = 0.05
+
+[[rotors]]
+name      = "mid_right"
+axis      = [0.5, 0.0, -0.866025]
+position  = [0.0, 1.0, 0.0]
+direction = "CW"
+
+[[rotors]]
+name      = "mid_left"
+axis      = [0.5, 0.0, -0.866025]
+position  = [0.0, -1.0, 0.0]
+direction = "CCW"
+
+[[rotors]]
+name      = "front_left"
+axis      = [-0.25, -0.4330125, -0.866025]
+position  = [0.866025, -0.5, 0.0]
+direction = "CW"
+
+[[rotors]]
+name      = "rear_right"
+axis      = [-0.25, -0.4330125, -0.866025]
+position  = [-0.866025, 0.5, 0.0]
+direction = "CCW"
+
+[[rotors]]
+name      = "front_right"
+axis      = [-0.25, 0.4330125, -0.866025]
+position  = [0.866025, 0.5, 0.0]
+direction = "CCW"
+
+[[rotors]]
+name      = "rear_left"
+axis      = [-0.25, 0.4330125, -0.866025]
+position  = [-0.866025, -0.5, 0.0]
+direction = "CW"