From 7dedaa425491ce13ee995b7ccc4871c5f2960fa6 Mon Sep 17 00:00:00 2001
From: QuadMcFly <virtualender@gmail.com>
Date: Sat, 28 Jan 2023 20:19:47 -0500
Subject: [PATCH] Add Octo X8 + to mixer defaults (#12175)

---
 src/main/flight/mixer.h      |  3 ++-
 src/main/flight/mixer_init.c | 15 ++++++++++++++-
 src/main/telemetry/mavlink.c |  1 +
 3 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 9e7ea6712c..11a6befad8 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -57,7 +57,8 @@ typedef enum mixerMode
     MIXER_CUSTOM = 23,
     MIXER_CUSTOM_AIRPLANE = 24,
     MIXER_CUSTOM_TRI = 25,
-    MIXER_QUADX_1234 = 26
+    MIXER_QUADX_1234 = 26,
+    MIXER_OCTOX8P = 27
 } mixerMode_e;
 
 typedef enum mixerType
diff --git a/src/main/flight/mixer_init.c b/src/main/flight/mixer_init.c
index 41cc172d87..4449acd87b 100644
--- a/src/main/flight/mixer_init.c
+++ b/src/main/flight/mixer_init.c
@@ -152,6 +152,17 @@ static const motorMixer_t mixerOctoX8[] = {
     { 1.0f,  1.0f, -1.0f,  1.0f },          // UNDER_FRONT_L
 };
 
+static const motorMixer_t mixerOctoX8P[] = {
+    { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
+    { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
+    { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
+    { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
+    { 1.0f,  0.0f,  1.0f,  1.0f },          // UNDER_REAR
+    { 1.0f, -1.0f,  0.0f, -1.0f },          // UNDER_RIGHT
+    { 1.0f,  1.0f,  0.0f, -1.0f },          // UNDER_LEFT
+    { 1.0f,  0.0f, -1.0f,  1.0f },          // UNDER_FRONT
+};
+
 static const motorMixer_t mixerOctoFlatP[] = {
     { 1.0f,  0.707107f, -0.707107f,  1.0f },    // FRONT_L
     { 1.0f, -0.707107f, -0.707107f,  1.0f },    // FRONT_R
@@ -175,6 +186,7 @@ static const motorMixer_t mixerOctoFlatX[] = {
 };
 #else
 #define mixerOctoX8 NULL
+#define mixerOctoX8P NULL
 #define mixerOctoFlatP NULL
 #define mixerOctoFlatX NULL
 #endif
@@ -244,7 +256,8 @@ const mixer_t mixers[] = {
     { 0, false, NULL },                // MIXER_CUSTOM
     { 2, true,  NULL },                // MIXER_CUSTOM_AIRPLANE
     { 3, true,  NULL },                // MIXER_CUSTOM_TRI
-    { 4, false, mixerQuadX1234 },
+    { 4, false, mixerQuadX1234 },      // MIXER_QUADX_1234
+    { 8, false, mixerOctoX8P },        // MIXER_OCTOX8P
 };
 #endif // !USE_QUAD_MIXER_ONLY
 
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 7961147352..cbd6d2be24 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -456,6 +456,7 @@ void mavlinkSendHUDAndHeartbeat(void)
             mavSystemType = MAV_TYPE_HEXAROTOR;
             break;
         case MIXER_OCTOX8:
+        case MIXER_OCTOX8P:
         case MIXER_OCTOFLATP:
         case MIXER_OCTOFLATX:
             mavSystemType = MAV_TYPE_OCTOROTOR;