Daniel Agar
10 years ago
10 changed files with 292 additions and 290 deletions
@ -1,135 +0,0 @@
@@ -1,135 +0,0 @@
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#!/usr/bin/tclsh |
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# |
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# Generate multirotor mixer scale tables compatible with the ArduCopter layout |
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# |
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proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) } |
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proc rcos {a} { expr cos([rad $a])} |
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set quad_x { |
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45 CCW |
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-135 CCW |
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-45 CW |
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135 CW |
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} |
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set quad_plus { |
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90 CCW |
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-90 CCW |
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0 CW |
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180 CW |
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} |
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set quad_v { |
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18.8 0.4242 |
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-18.8 1.0 |
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-18.8 -0.4242 |
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18.8 -1.0 |
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} |
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set quad_wide { |
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68 CCW |
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-129 CCW |
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-68 CW |
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129 CW |
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} |
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set hex_x { |
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90 CW |
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-90 CCW |
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-30 CW |
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150 CCW |
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30 CCW |
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-150 CW |
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} |
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set hex_plus { |
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0 CW |
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180 CCW |
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-120 CW |
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60 CCW |
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-60 CCW |
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120 CW |
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} |
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set hex_cox { |
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60 CW |
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60 CCW |
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180 CW |
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180 CCW |
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-60 CW |
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-60 CCW |
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} |
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set octa_x { |
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22.5 CW |
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-157.5 CW |
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67.5 CCW |
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157.5 CCW |
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-22.5 CCW |
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-112.5 CCW |
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-67.5 CW |
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112.5 CW |
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} |
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set octa_plus { |
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0 CW |
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180 CW |
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45 CCW |
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135 CCW |
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-45 CCW |
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-135 CCW |
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-90 CW |
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90 CW |
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} |
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set octa_cox { |
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45 CCW |
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-45 CW |
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-135 CCW |
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135 CW |
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-45 CCW |
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45 CW |
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135 CCW |
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-135 CW |
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} |
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set twin_engine { |
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90 0.0 |
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-90 0.0 |
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} |
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set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine} |
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proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]} |
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foreach table $tables { |
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puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table] |
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upvar #0 $table angles |
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foreach {angle dir} $angles { |
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if {$dir == "CW"} { |
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set dd -1.0 |
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} elseif {$dir == "CCW"} { |
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set dd 1.0 |
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} else { |
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set dd $dir |
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} |
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factors $angle $dd |
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} |
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puts "};" |
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} |
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puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {" |
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foreach table $tables { |
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puts [format "\t&_config_%s\[0\]," $table] |
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} |
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puts "};" |
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puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {" |
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foreach table $tables { |
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upvar #0 $table angles |
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puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table] |
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} |
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puts "};" |
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@ -0,0 +1,42 @@
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2014 Anton Matosov <anton.matosov@gmail.com>. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
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MULTI_TABLES := $(SELF_DIR)multi_tables.py
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# Add explicit dependency, as implicit one doesn't work often.
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$(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h |
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$(SELF_DIR)mixer_multirotor.generated.h : $(MULTI_TABLES) |
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$(Q) $(PYTHON) $(MULTI_TABLES) > $(SELF_DIR)mixer_multirotor.generated.h
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@ -0,0 +1,200 @@
@@ -0,0 +1,200 @@
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#!/usr/bin/env python |
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############################################################################ |
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# |
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# Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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# |
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# Generate multirotor mixer scale tables compatible with the ArduCopter layout |
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# |
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# for python2.7 compatibility |
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from __future__ import print_function |
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import math |
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print("/*") |
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print("* This file is automatically generated by multi_tables - do not edit.") |
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print("*/") |
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print("") |
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print("#ifndef _MIXER_MULTI_TABLES") |
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print("#define _MIXER_MULTI_TABLES") |
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print("") |
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def rcos(angleInRadians): |
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return math.cos(math.radians(angleInRadians)) |
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CCW = 1.0 |
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CW = -CCW |
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quad_x = [ |
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[ 45, CCW], |
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[-135, CCW], |
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[-45, CW], |
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[135, CW], |
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] |
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quad_plus = [ |
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[ 90, CCW], |
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[ -90, CCW], |
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[ 0, CW], |
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[ 180, CW], |
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] |
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quad_v = [ |
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[ 18.8, 0.4242], |
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[ -18.8, 1.0], |
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[ -18.8, -0.4242], |
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[ 18.8, -1.0], |
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] |
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quad_wide = [ |
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[ 68, CCW], |
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[ -129, CCW], |
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[ -68, CW], |
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[ 129, CW], |
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] |
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hex_x = [ |
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[ 90, CW], |
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[ -90, CCW], |
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[ -30, CW], |
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[ 150, CCW], |
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[ 30, CCW], |
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[-150, CW], |
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] |
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hex_plus = [ |
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[ 0, CW], |
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[ 180, CCW], |
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[-120, CW], |
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[ 60, CCW], |
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[ -60, CCW], |
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[ 120, CW], |
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] |
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hex_cox = [ |
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[ 60, CW], |
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[ 60, CCW], |
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[ 180, CW], |
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[ 180, CCW], |
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[ -60, CW], |
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[ -60, CCW], |
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] |
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octa_x = [ |
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[ 22.5, CW], |
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[-157.5, CW], |
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[ 67.5, CCW], |
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[ 157.5, CCW], |
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[ -22.5, CCW], |
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[-112.5, CCW], |
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[ -67.5, CW], |
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[ 112.5, CW], |
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] |
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octa_plus = [ |
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[ 0, CW], |
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[ 180, CW], |
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[ 45, CCW], |
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[ 135, CCW], |
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[ -45, CCW], |
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[-135, CCW], |
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[ -90, CW], |
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[ 90, CW], |
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] |
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octa_cox = [ |
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[ 45, CCW], |
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[ -45, CW], |
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[-135, CCW], |
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[ 135, CW], |
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[ -45, CCW], |
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[ 45, CW], |
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[ 135, CCW], |
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[-135, CW], |
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] |
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twin_engine = [ |
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[ 90, 0.0], |
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[-90, 0.0], |
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] |
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def variableName(variable): |
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for variableName, value in list(globals().items()): |
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if value is variable: |
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return variableName |
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tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine] |
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def printEnum(): |
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print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {") |
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for table in tables: |
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print("\t{},".format(variableName(table).upper())) |
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print("\n\tMAX_GEOMETRY") |
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print("}; // enum class MultirotorGeometry\n") |
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def printScaleTables(): |
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for table in tables: |
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print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))) |
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for (angle, yawScale) in table: |
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rollScale = rcos(angle + 90) |
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pitchScale = rcos(angle) |
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print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)) |
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print("};\n") |
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def printScaleTablesIndex(): |
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print("const MultirotorMixer::Rotor *_config_index[] = {") |
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for table in tables: |
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print("\t&_config_{}[0],".format(variableName(table))) |
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print("};\n") |
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def printScaleTablesCounts(): |
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print("const unsigned _config_rotor_count[] = {") |
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for table in tables: |
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print("\t{}, /* {} */".format(len(table), variableName(table))) |
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print("};\n") |
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printEnum() |
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print("namespace {") |
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printScaleTables() |
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printScaleTablesIndex() |
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printScaleTablesCounts() |
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print("} // anonymous namespace\n") |
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print("#endif /* _MIXER_MULTI_TABLES */") |
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print("") |
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