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mixer coorection for hexa6x and hexa6p

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This commit is contained in:
treymarc 2014-01-01 09:17:13 +01:00
parent 033a8fbe3f
commit c76a9669f6
1 changed files with 489 additions and 489 deletions
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24
src/mixer.c
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@ -43,12 +43,12 @@ static const motorMixer_t mixerY6[] = {
}; };
static const motorMixer_t mixerHex6P[] = { static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R { 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R { 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
{ 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L { 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L { 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
}; };
static const motorMixer_t mixerY4[] = { static const motorMixer_t mixerY4[] = {
@ -59,12 +59,12 @@ static const motorMixer_t mixerY4[] = {
}; };
static const motorMixer_t mixerHex6X[] = { static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R { 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
{ 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT { 1.0f, -1f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT { 1.0f, 1f, 0.0f, 1.0f }, // LEFT
}; };
static const motorMixer_t mixerOctoX8[] = { static const motorMixer_t mixerOctoX8[] = {