From 3e35dcb7dd1446363c6dbea0d23802b244df7b73 Mon Sep 17 00:00:00 2001
From: Julien Lecoeur <julien.lecoeur@gmail.com>
Date: Mon, 9 Oct 2017 11:39:59 +0200
Subject: [PATCH] Mixers: Use geometry of SK450 deadcat for both quad_wide
 (centered CG) and quad_deadcat (off-centered CG)

---
 src/modules/systemlib/mixer/CMakeLists.txt          |  1 +
 src/modules/systemlib/mixer/geoms/quad_deadcat.toml |  5 +++--
 src/modules/systemlib/mixer/geoms/quad_wide.toml    | 10 +++++-----
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/modules/systemlib/mixer/CMakeLists.txt b/src/modules/systemlib/mixer/CMakeLists.txt
index d74238cb40..4ce929d35e 100644
--- a/src/modules/systemlib/mixer/CMakeLists.txt
+++ b/src/modules/systemlib/mixer/CMakeLists.txt
@@ -38,6 +38,7 @@ set(geom_files
 	quad_h.toml
 	quad_plus.toml
 	quad_wide.toml
+	quad_deadcat.toml
 	quad_x_pusher.toml
 	hex_x.toml
 	hex_plus.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_deadcat.toml b/src/modules/systemlib/mixer/geoms/quad_deadcat.toml
index c9cc5a3819..b46ee4ca85 100644
--- a/src/modules/systemlib/mixer/geoms/quad_deadcat.toml
+++ b/src/modules/systemlib/mixer/geoms/quad_deadcat.toml
@@ -1,9 +1,10 @@
-# SK450 DeadCat Quadcopter
+# SK450 DeadCat Quadcopter.
+# Same geometry as quad_wide, except CG is located at intersection of rear arms, so front motors are more loaded.
 
 [info]
 name = "quad_deadcat"
 key = "4dc"
-description = "SK450 DeadCat Quadcopter"
+description = "SK450 DeadCat Quadcopter, CG at intersection of rear arms"
 
 [rotor_default]
 direction = "CW"
diff --git a/src/modules/systemlib/mixer/geoms/quad_wide.toml b/src/modules/systemlib/mixer/geoms/quad_wide.toml
index a26141c974..a794b6c02b 100644
--- a/src/modules/systemlib/mixer/geoms/quad_wide.toml
+++ b/src/modules/systemlib/mixer/geoms/quad_wide.toml
@@ -3,7 +3,7 @@
 [info]
 name = "quad_wide"
 key = "4w"
-description = "Generic Quadcopter in wide coax configuration"
+description = "Quadcopter in wide configuration. Same geometry as SK450 Deadcat except the CG is moved backward to load all motors equally"
 
 [rotor_default]
 axis      = [0.0, 0.0, -1.0]
@@ -12,20 +12,20 @@ Cm        = 0.05
 
 [[rotors]]
 name      = "front_right"
-position  = [0.3746066, 0.927184, 0.0]
+position  = [0.1515, 0.245, 0.0]
 direction = "CCW"
 
 [[rotors]]
 name      = "rear_left"
-position  = [-0.62932, -0.777146, 0.0]
+position  = [-0.1515, -0.1875, 0.0]
 direction = "CCW"
 
 [[rotors]]
 name     = "front_left"
-position = [0.3746066, -0.927184, 0.0]
+position = [0.1515, -0.245, 0.0]
 direction = "CW"
 
 [[rotors]]
 name     = "rear_right"
-position = [-0.62932, 0.777146, 0.0]
+position = [-0.1515, 0.1875, 0.0]
 direction = "CW"
\ No newline at end of file