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Code Issues Wiki Activity

Adding ATAIL support.

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See https://github.com/multiwii/baseflight/pull/192
This commit is contained in:
Dominic Clifton 2014-12-21 14:58:46 +00:00
parent 4bf3d03591
commit d605ded161
3 changed files with 12 additions and 3 deletions
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8
src/main/flight/mixer.c
View file

@ -161,6 +161,13 @@ static const motorMixer_t mixerVtail4[] = {
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
}; };
static const motorMixer_t mixerAtail4[] = {
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
};
static const motorMixer_t mixerHex6H[] = { static const motorMixer_t mixerHex6H[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
@ -200,6 +207,7 @@ const mixer_t mixers[] = {
{ 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER
{ 1, 1, NULL }, // MULTITYPE_SINGLECOPTER { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER
{ 4, 0, mixerAtail4 }, // MULTITYPE_ATAIL4
{ 0, 0, NULL }, // MULTITYPE_CUSTOM { 0, 0, NULL }, // MULTITYPE_CUSTOM
}; };

5
src/main/flight/mixer.h
View file

@ -44,8 +44,9 @@ typedef enum MultiType
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20, MULTITYPE_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21, MULTITYPE_SINGLECOPTER = 21,
MULTITYPE_CUSTOM = 22, // no current GUI displays this MULTITYPE_ATAIL4 = 22,
MULTITYPE_LAST = 23 MULTITYPE_CUSTOM = 23,
MULTITYPE_LAST = 24
} MultiType; } MultiType;
// Custom mixer data per motor // Custom mixer data per motor

2
src/main/io/serial_cli.c
View file

@ -116,7 +116,7 @@ static const char * const mixerNames[] = {
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX", "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER", "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"CUSTOM", NULL "ATAIL4", "CUSTOM", NULL
}; };
// sync this with features_e // sync this with features_e