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Mixers: generate all versions (new,normalized,6dof,legacy)

sbg
Julien Lecoeur 7 years ago committed by Beat Küng
parent
99f6c4dbc3
commit
2c4228ce98
2 changed files with 31 additions and 3 deletions
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  1. 30
      src/modules/systemlib/mixer/CMakeLists.txt
  2. 4
      src/modules/systemlib/mixer/mixer_multirotor.cpp

30
src/modules/systemlib/mixer/CMakeLists.txt
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@ -46,9 +46,32 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated @@ -46,9 +46,32 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py -f ${geom_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py ${geom_list}
)
add_custom_target(mixer_gen
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h ${geom_list})
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
DEPENDS ${geom_list})
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py --normalize -f ${geom_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py ${geom_list}
)
add_custom_target(mixer_gen_norm
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
DEPENDS ${geom_list})
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py --sixdof -f ${geom_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geoms/tools/px_generate_mixers.py ${geom_list}
)
add_custom_target(mixer_gen_6dof
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
DEPENDS ${geom_list})
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py > ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py
)
add_custom_target(mixer_gen_legacy
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h)
px4_add_module(
MODULE modules__systemlib__mixer
@ -62,5 +85,8 @@ px4_add_module( @@ -62,5 +85,8 @@ px4_add_module(
DEPENDS
platforms__common
mixer_gen
mixer_gen_norm
mixer_gen_6dof
mixer_gen_legacy
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

4
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -57,7 +57,9 @@ @@ -57,7 +57,9 @@
#include "mixer.h"
// This file is generated by the multi_tables script which is invoked during the build process
#include "mixer_multirotor.generated.h"
// #include "mixer_multirotor.generated.h"
#include "mixer_multirotor_normalized.generated.h"
// #include "mixer_multirotor_legacy.generated.h"
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)

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