Merged master into driver_framework

src/modules/systemlib/mixer/CMakeLists.txt

@@ -38,7 +38,7 @@ add_custom_command(OUTPUT mixer_multirotor.generated.h
 	> mixer_multirotor.generated.h)
 
 add_custom_target(mixer_gen
-	DEPENDS mixer_multirotor.generated.h)
+	DEPENDS mixer_multirotor.generated.h multi_tables.py)
 
 px4_add_module(
 	MODULE modules__systemlib__mixer
@@ -51,5 +51,6 @@ px4_add_module(
 		mixer_multirotor.generated.h
 	DEPENDS
 		platforms__common
+		mixer_gen
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -150,6 +150,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4x")) {
 		geometry = MultirotorGeometry::QUAD_X;
 
+	} else if (!strcmp(geomname, "4h")) {
+		geometry = MultirotorGeometry::QUAD_H;
+
 	} else if (!strcmp(geomname, "4v")) {
 		geometry = MultirotorGeometry::QUAD_V;
 

src/modules/systemlib/mixer/multi_tables.py

@@ -62,6 +62,13 @@ quad_x = [
     [135,  CW],
 ]
 
+quad_h = [
+    [  45, CW],
+    [-135, CW],
+    [-45,  CCW],
+    [135,  CCW],
+]
+
 quad_plus = [
     [  90, CCW],
     [ -90, CCW],
@@ -162,7 +169,7 @@ tri_y = [
 ]
 
 
-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]
+tables = [quad_x, quad_h, 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()):