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Add Octo X8 + to mixer defaults (#12175)

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QuadMcFly 2023-01-28 20:19:47 -05:00 • committed by GitHub
parent ecdbba2ce2
commit 7dedaa4254
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3 changed files with 17 additions and 2 deletions
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3
src/main/flight/mixer.h
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@ -57,7 +57,8 @@ typedef enum mixerMode
MIXER_CUSTOM = 23, MIXER_CUSTOM = 23,
MIXER_CUSTOM_AIRPLANE = 24, MIXER_CUSTOM_AIRPLANE = 24,
MIXER_CUSTOM_TRI = 25, MIXER_CUSTOM_TRI = 25,
MIXER_QUADX_1234 = 26 MIXER_QUADX_1234 = 26,
MIXER_OCTOX8P = 27
} mixerMode_e; } mixerMode_e;
typedef enum mixerType typedef enum mixerType

15
src/main/flight/mixer_init.c
View file

@ -152,6 +152,17 @@ static const motorMixer_t mixerOctoX8[] = {
{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L { 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[] = { static const motorMixer_t mixerOctoFlatP[] = {
{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
@ -175,6 +186,7 @@ static const motorMixer_t mixerOctoFlatX[] = {
}; };
#else #else
#define mixerOctoX8 NULL #define mixerOctoX8 NULL
#define mixerOctoX8P NULL
#define mixerOctoFlatP NULL #define mixerOctoFlatP NULL
#define mixerOctoFlatX NULL #define mixerOctoFlatX NULL
#endif #endif
@ -244,7 +256,8 @@ const mixer_t mixers[] = {
{ 0, false, NULL }, // MIXER_CUSTOM { 0, false, NULL }, // MIXER_CUSTOM
{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE { 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
{ 3, true, NULL }, // MIXER_CUSTOM_TRI { 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 #endif // !USE_QUAD_MIXER_ONLY

1
src/main/telemetry/mavlink.c
View file

@ -456,6 +456,7 @@ void mavlinkSendHUDAndHeartbeat(void)
mavSystemType = MAV_TYPE_HEXAROTOR; mavSystemType = MAV_TYPE_HEXAROTOR;
break; break;
case MIXER_OCTOX8: case MIXER_OCTOX8:
case MIXER_OCTOX8P:
case MIXER_OCTOFLATP: case MIXER_OCTOFLATP:
case MIXER_OCTOFLATX: case MIXER_OCTOFLATX:
mavSystemType = MAV_TYPE_OCTOROTOR; mavSystemType = MAV_TYPE_OCTOROTOR;