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Add Octo X8 + to mixer defaults (#12175)
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3 changed files with 17 additions and 2 deletions
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@ -57,7 +57,8 @@ typedef enum mixerMode
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MIXER_CUSTOM = 23,
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MIXER_CUSTOM_AIRPLANE = 24,
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MIXER_CUSTOM_TRI = 25,
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MIXER_QUADX_1234 = 26
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MIXER_QUADX_1234 = 26,
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MIXER_OCTOX8P = 27
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} mixerMode_e;
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typedef enum mixerType
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@ -152,6 +152,17 @@ static const motorMixer_t mixerOctoX8[] = {
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{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
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};
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static const motorMixer_t mixerOctoX8P[] = {
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
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{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
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{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
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{ 1.0f, 0.0f, 1.0f, 1.0f }, // UNDER_REAR
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{ 1.0f, -1.0f, 0.0f, -1.0f }, // UNDER_RIGHT
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{ 1.0f, 1.0f, 0.0f, -1.0f }, // UNDER_LEFT
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{ 1.0f, 0.0f, -1.0f, 1.0f }, // UNDER_FRONT
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};
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static const motorMixer_t mixerOctoFlatP[] = {
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{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
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{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
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@ -175,6 +186,7 @@ static const motorMixer_t mixerOctoFlatX[] = {
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};
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#else
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#define mixerOctoX8 NULL
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#define mixerOctoX8P NULL
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#define mixerOctoFlatP NULL
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#define mixerOctoFlatX NULL
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#endif
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@ -244,7 +256,8 @@ const mixer_t mixers[] = {
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{ 0, false, NULL }, // MIXER_CUSTOM
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{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
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{ 3, true, NULL }, // MIXER_CUSTOM_TRI
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{ 4, false, mixerQuadX1234 },
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{ 4, false, mixerQuadX1234 }, // MIXER_QUADX_1234
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{ 8, false, mixerOctoX8P }, // MIXER_OCTOX8P
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};
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#endif // !USE_QUAD_MIXER_ONLY
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@ -456,6 +456,7 @@ void mavlinkSendHUDAndHeartbeat(void)
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mavSystemType = MAV_TYPE_HEXAROTOR;
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break;
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case MIXER_OCTOX8:
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case MIXER_OCTOX8P:
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case MIXER_OCTOFLATP:
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case MIXER_OCTOFLATX:
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mavSystemType = MAV_TYPE_OCTOROTOR;
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