zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Automated updates of the C++ code generated by the multi_tables script, now it is placed into the mixer_multirotor.generated.h file which is generated by makefile

sbg
Anton Matosov 10 years ago
parent
c3ed35f5cc
commit
59fa170e54
4 changed files with 18 additions and 113 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      .gitignore
  2. 114
      src/modules/systemlib/mixer/mixer_multirotor.cpp
  3. 5
      src/modules/systemlib/mixer/module.mk
  4. 9
      src/modules/systemlib/mixer/multi_tables

1
.gitignore vendored
Unescape View File

@ -40,3 +40,4 @@ tags @@ -40,3 +40,4 @@ tags
*.orig
Firmware.zip
unittests/build
*.generated.h

114
src/modules/systemlib/mixer/mixer_multirotor.cpp
Unescape View File

@ -73,118 +73,8 @@ float constrain(float val, float min, float max) @@ -73,118 +73,8 @@ float constrain(float val, float min, float max)
return (val < min) ? min : ((val > max) ? max : val);
}
/*
* These tables automatically generated by multi_tables - do not edit.
*/
const MultirotorMixer::Rotor _config_quad_x[] = {
{ -0.707107, 0.707107, 1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_plus[] = {
{ -1.000000, 0.000000, 1.000000 },
{ 1.000000, 0.000000, 1.000000 },
{ 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.322266, 0.946649, 0.424200 },
{ 0.322266, 0.946649, 1.000000 },
{ 0.322266, 0.946649, -0.424200 },
{ -0.322266, 0.946649, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.000000 },
{ 0.777146, -0.629320, 1.000000 },
{ 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.000000 },
{ 1.000000, 0.000000, 1.000000 },
{ 0.500000, 0.866025, -1.000000 },
{ -0.500000, -0.866025, 1.000000 },
{ -0.500000, 0.866025, 1.000000 },
{ 0.500000, -0.866025, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_plus[] = {
{ 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, 1.000000 },
{ 0.866025, -0.500000, -1.000000 },
{ -0.866025, 0.500000, 1.000000 },
{ 0.866025, 0.500000, 1.000000 },
{ -0.866025, -0.500000, -1.000000 },
};
const MultirotorMixer::Rotor _config_hex_cox[] = {
{ -0.866025, 0.500000, -1.000000 },
{ -0.866025, 0.500000, 1.000000 },
{ -0.000000, -1.000000, -1.000000 },
{ -0.000000, -1.000000, 1.000000 },
{ 0.866025, 0.500000, -1.000000 },
{ 0.866025, 0.500000, 1.000000 },
};
const MultirotorMixer::Rotor _config_octa_x[] = {
{ -0.382683, 0.923880, -1.000000 },
{ 0.382683, -0.923880, -1.000000 },
{ -0.923880, 0.382683, 1.000000 },
{ -0.382683, -0.923880, 1.000000 },
{ 0.382683, 0.923880, 1.000000 },
{ 0.923880, -0.382683, 1.000000 },
{ 0.923880, 0.382683, -1.000000 },
{ -0.923880, -0.382683, -1.000000 },
};
const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 0.000000, 1.000000, -1.000000 },
{ -0.000000, -1.000000, -1.000000 },
{ -0.707107, 0.707107, 1.000000 },
{ -0.707107, -0.707107, 1.000000 },
{ 0.707107, 0.707107, 1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ 1.000000, 0.000000, -1.000000 },
{ -1.000000, 0.000000, -1.000000 },
};
const MultirotorMixer::Rotor _config_octa_cox[] = {
{ -0.707107, 0.707107, 1.000000 },
{ 0.707107, 0.707107, -1.000000 },
{ 0.707107, -0.707107, 1.000000 },
{ -0.707107, -0.707107, -1.000000 },
{ 0.707107, 0.707107, 1.000000 },
{ -0.707107, 0.707107, -1.000000 },
{ -0.707107, -0.707107, 1.000000 },
{ 0.707107, -0.707107, -1.000000 },
};
const MultirotorMixer::Rotor _config_twin_engine[] = {
{ -1.000000, 0.000000, 0.000000 },
{ 1.000000, 0.000000, 0.000000 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_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_hex_cox[0],
&_config_octa_x[0],
&_config_octa_plus[0],
&_config_octa_cox[0],
&_config_twin_engine[0],
};
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
4, /* quad_wide */
6, /* hex_x */
6, /* hex_plus */
6, /* hex_cox */
8, /* octa_x */
8, /* octa_plus */
8, /* octa_cox */
2, /* twin_engine */
};
// This file is generated by the multi_tables script which is invoked during the build process
#include "mixer_multirotor.generated.h"
}

5
src/modules/systemlib/mixer/module.mk
Unescape View File

@ -31,6 +31,7 @@ @@ -31,6 +31,7 @@
#
############################################################################
#
# mixer library
#
@ -41,3 +42,7 @@ SRCS = mixer.cpp \ @@ -41,3 +42,7 @@ SRCS = mixer.cpp \
mixer_multirotor.cpp \
mixer_simple.cpp \
mixer_load.c
SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
$(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables
$(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h

9
src/modules/systemlib/mixer/multi_tables
Unescape View File

@ -3,6 +3,12 @@ @@ -3,6 +3,12 @@
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
#
puts "/*"
puts "* These tables automatically generated by multi_tables - do not edit."
puts "*/"
puts ""
proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
proc rcos {a} { expr cos([rad $a])}
@ -133,3 +139,6 @@ foreach table $tables { @@ -133,3 +139,6 @@ foreach table $tables {
puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
}
puts "};"
# Newline at the end of file
puts ""

Write Preview
Loading…
Cancel
Save