mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-24 00:35:20 +03:00
Servo mix rules
This commit is contained in:
Pawel Spychalski (DzikuVx)
parent
d0cdef46f4
commit
2e19037667
2 changed files with 168 additions and 97 deletions
264
js/model.js
264
js/model.js
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@ -1,5 +1,36 @@
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'use strict';
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const SERVO_GIMBAL_PITCH = 0,
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SERVO_GIMBAL_ROLL = 1,
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SERVO_ELEVATOR = 2,
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SERVO_FLAPPERON_1 = 3,
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SERVO_FLAPPERON_2 = 4,
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SERVO_RUDDER = 5,
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SERVO_BICOPTER_LEFT = 4,
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SERVO_BICOPTER_RIGHT = 5,
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SERVO_DUALCOPTER_LEFT = 4,
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SERVO_DUALCOPTER_RIGHT = 5,
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SERVO_SINGLECOPTER_1 = 3,
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SERVO_SINGLECOPTER_2 = 4,
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SERVO_SINGLECOPTER_3 = 5,
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SERVO_SINGLECOPTER_4 = 6;
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const INPUT_STABILIZED_ROLL = 0,
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INPUT_STABILIZED_PITCH = 1,
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INPUT_STABILIZED_YAW = 2,
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INPUT_STABILIZED_THROTTLE = 3,
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INPUT_RC_ROLL = 4,
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INPUT_RC_PITCH = 5,
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INPUT_RC_YAW = 6,
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INPUT_RC_THROTTLE = 7,
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INPUT_RC_AUX1 = 8,
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INPUT_RC_AUX2 = 9,
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INPUT_RC_AUX3 = 10,
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INPUT_RC_AUX4 = 11,
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INPUT_GIMBAL_PITCH = 12,
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INPUT_GIMBAL_ROLL = 13,
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INPUT_FEATURE_FLAPS = 14;
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// generate mixer
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const mixerList = [
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{
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@ -8,10 +39,13 @@ const mixerList = [
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image: 'tri',
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 1.333333, 0.0), // REAR
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new MotorMixRule(1.0, -1.0, -0.666667, 0.0), // RIGHT
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new MotorMixRule(1.0, 1.0, -0.666667, 0.0), // LEFT
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 1.333333, 0.0), // REAR
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new MotorMixRule(1.0, -1.0, -0.666667, 0.0), // RIGHT
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new MotorMixRule(1.0, 1.0, -0.666667, 0.0) // LEFT
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],
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servoMixer: [
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new ServoMixRule(SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0)
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]
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}, // 1
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{
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@ -21,11 +55,12 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR
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new MotorMixRule(1.0, -1.0, 0.0, 1.0), // RIGHT
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new MotorMixRule(1.0, 1.0, 0.0, 1.0), // LEFT
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new MotorMixRule(1.0, 0.0, -1.0, -1.0), // FRONT
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]
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR
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new MotorMixRule(1.0, -1.0, 0.0, 1.0), // RIGHT
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new MotorMixRule(1.0, 1.0, 0.0, 1.0), // LEFT
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new MotorMixRule(1.0, 0.0, -1.0, -1.0) // FRONT
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],
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servoMixer: []
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}, // 2
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{
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name: 'Quad X',
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@ -34,11 +69,12 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, -1.0), // FRONT_L
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]
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new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, -1.0) // FRONT_L
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],
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servoMixer: []
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}, // 3
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{
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name: 'Bicopter',
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@ -46,7 +82,8 @@ const mixerList = [
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image: 'bicopter',
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hasCustomServoMixer: false,
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enabled: false,
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motorMixer: []
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motorMixer: [],
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servoMixer: []
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}, // 4
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{
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name: 'Gimbal',
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@ -54,7 +91,8 @@ const mixerList = [
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image: 'custom',
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hasCustomServoMixer: false,
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enabled: false,
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motorMixer: []
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motorMixer: [],
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servoMixer: []
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}, // 5
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{
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name: 'Y6',
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@ -63,13 +101,14 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 1.333333, 1.0), // REAR
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new MotorMixRule(1.0, 0.0, 1.333333, 1.0), // REAR
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new MotorMixRule(1.0, -1.0, -0.666667, -1.0), // RIGHT
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new MotorMixRule(1.0, 1.0, -0.666667, -1.0), // LEFT
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new MotorMixRule(1.0, 0.0, 1.333333, -1.0), // UNDER_REAR
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new MotorMixRule(1.0, -1.0, -0.666667, 1.0), // UNDER_RIGHT
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new MotorMixRule(1.0, 1.0, -0.666667, 1.0), // UNDER_LEFT
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]
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new MotorMixRule(1.0, 1.0, -0.666667, -1.0), // LEFT
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new MotorMixRule(1.0, 0.0, 1.333333, -1.0), // UNDER_REAR
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new MotorMixRule(1.0, -1.0, -0.666667, 1.0), // UNDER_RIGHT
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new MotorMixRule(1.0, 1.0, -0.666667, 1.0) // UNDER_LEFT
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],
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servoMixer: []
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}, // 6
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{
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name: 'Hex +',
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@ -78,13 +117,14 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, -0.866025, 0.5, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.866025, 0.5, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.866025, -0.5, -1.0), // FRONT_R
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new MotorMixRule(1.0, 0.866025, 0.5, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.866025, -0.5, -1.0), // FRONT_L
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new MotorMixRule(1.0, 0.0, -1.0, 1.0), // FRONT
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR
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]
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new MotorMixRule(1.0, 0.866025, 0.5, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.866025, -0.5, -1.0), // FRONT_L
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new MotorMixRule(1.0, 0.0, -1.0, 1.0), // FRONT
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new MotorMixRule(1.0, 0.0, 1.0, -1.0) // REAR
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],
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servoMixer: []
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}, // 7
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{
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name: 'Flying Wing',
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@ -93,8 +133,14 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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],
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servoMixer: [
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new ServoMixRule(SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 50, 0),
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new ServoMixRule(SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 50, 0),
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new ServoMixRule(SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, -50, 0),
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new ServoMixRule(SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 50, 0)
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]
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}, // 8
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{
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@ -104,11 +150,12 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR_TOP CW
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new MotorMixRule(1.0, -1.0, -1.0, 0.0), // FRONT_R CCW
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new MotorMixRule(1.0, 0.0, 1.0, 1.0), // REAR_BOTTOM CCW
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new MotorMixRule(1.0, 1.0, -1.0, 0.0), // FRONT_L CW
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]
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR_TOP CW
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new MotorMixRule(1.0, -1.0, -1.0, 0.0), // FRONT_R CCW
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new MotorMixRule(1.0, 0.0, 1.0, 1.0), // REAR_BOTTOM CCW
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new MotorMixRule(1.0, 1.0, -1.0, 0.0), // FRONT_L CW
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],
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servoMixer: []
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}, // 9
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{
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name: 'Hex X',
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@ -117,13 +164,14 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, -0.5, 0.866025, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.5, -0.866025, 1.0), // FRONT_R
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new MotorMixRule(1.0, 0.5, 0.866025, -1.0), // REAR_L
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new MotorMixRule(1.0, 0.5, -0.866025, -1.0), // FRONT_L
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new MotorMixRule(1.0, -1.0, 0.0, -1.0), // RIGHT
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new MotorMixRule(1.0, 1.0, 0.0, 1.0), // LEFT
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]
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new MotorMixRule(1.0, -0.5, 0.866025, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.5, -0.866025, 1.0), // FRONT_R
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new MotorMixRule(1.0, 0.5, 0.866025, -1.0), // REAR_L
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new MotorMixRule(1.0, 0.5, -0.866025, -1.0), // FRONT_L
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new MotorMixRule(1.0, -1.0, 0.0, -1.0), // RIGHT
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new MotorMixRule(1.0, 1.0, 0.0, 1.0), // LEFT
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],
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servoMixer: []
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}, // 10
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{
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name: 'Octo X8',
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@ -132,15 +180,16 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, -1.0), // FRONT_L
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new MotorMixRule(1.0, -1.0, 1.0, 1.0), // UNDER_REAR_R
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new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, -1.0), // FRONT_L
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new MotorMixRule(1.0, -1.0, 1.0, 1.0), // UNDER_REAR_R
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new MotorMixRule(1.0, -1.0, -1.0, -1.0), // UNDER_FRONT_R
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new MotorMixRule(1.0, 1.0, 1.0, -1.0), // UNDER_REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, 1.0), // UNDER_FRONT_L
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]
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new MotorMixRule(1.0, 1.0, 1.0, -1.0), // UNDER_REAR_L
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new MotorMixRule(1.0, 1.0, -1.0, 1.0), // UNDER_FRONT_L
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],
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servoMixer: []
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}, // 11
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{
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name: 'Octo Flat +',
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@ -149,15 +198,16 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.707107, -0.707107, 1.0), // FRONT_L
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new MotorMixRule(1.0, -0.707107, -0.707107, 1.0), // FRONT_R
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new MotorMixRule(1.0, -0.707107, 0.707107, 1.0), // REAR_R
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new MotorMixRule(1.0, 0.707107, 0.707107, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.0, -1.0, -1.0), // FRONT
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new MotorMixRule(1.0, -1.0, 0.0, -1.0), // RIGHT
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR
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new MotorMixRule(1.0, 1.0, 0.0, -1.0), // LEFT
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]
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new MotorMixRule(1.0, 0.707107, -0.707107, 1.0), // FRONT_L
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new MotorMixRule(1.0, -0.707107, -0.707107, 1.0), // FRONT_R
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new MotorMixRule(1.0, -0.707107, 0.707107, 1.0), // REAR_R
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new MotorMixRule(1.0, 0.707107, 0.707107, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.0, -1.0, -1.0), // FRONT
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new MotorMixRule(1.0, -1.0, 0.0, -1.0), // RIGHT
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new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR
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new MotorMixRule(1.0, 1.0, 0.0, -1.0), // LEFT
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],
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servoMixer: []
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}, // 12
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{
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name: 'Octo Flat X',
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@ -166,15 +216,16 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 1.0, -0.414178, 1.0), // MIDFRONT_L
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new MotorMixRule(1.0, -0.414178, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, -1.0, 0.414178, 1.0), // MIDREAR_R
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new MotorMixRule(1.0, 0.414178, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.414178, -1.0, -1.0), // FRONT_L
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new MotorMixRule(1.0, 1.0, -0.414178, 1.0), // MIDFRONT_L
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new MotorMixRule(1.0, -0.414178, -1.0, 1.0), // FRONT_R
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new MotorMixRule(1.0, -1.0, 0.414178, 1.0), // MIDREAR_R
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new MotorMixRule(1.0, 0.414178, 1.0, 1.0), // REAR_L
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new MotorMixRule(1.0, 0.414178, -1.0, -1.0), // FRONT_L
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new MotorMixRule(1.0, -1.0, -0.414178, -1.0), // MIDFRONT_R
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new MotorMixRule(1.0, -0.414178, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, 1.0, 0.414178, -1.0), // MIDREAR_L
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]
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new MotorMixRule(1.0, -0.414178, 1.0, -1.0), // REAR_R
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new MotorMixRule(1.0, 1.0, 0.414178, -1.0), // MIDREAR_L
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],
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servoMixer: []
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}, // 13
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{
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name: 'Airplane',
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@ -183,8 +234,16 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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new MotorMixRule(1.0, 0.0, 0.0, 0.0),
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],
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servoMixer: [
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new ServoMixRule(SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0),
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new ServoMixRule(SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0),
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new ServoMixRule(SERVO_FLAPPERON_1, INPUT_FEATURE_FLAPS, 100, 0),
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new ServoMixRule(SERVO_FLAPPERON_2, INPUT_FEATURE_FLAPS, -100, 0),
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new ServoMixRule(SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0),
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new ServoMixRule(SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0)
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]
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}, // 14
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{
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@ -193,7 +252,8 @@ const mixerList = [
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image: 'custom',
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hasCustomServoMixer: false,
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enabled: false,
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motorMixer: []
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motorMixer: [],
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servoMixer: []
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}, // 15
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{
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name: 'Heli 90',
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@ -201,7 +261,8 @@ const mixerList = [
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image: 'custom',
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hasCustomServoMixer: false,
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enabled: false,
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motorMixer: []
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motorMixer: [],
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servoMixer: []
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}, // 16
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{
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name: 'V-tail Quad',
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@ -210,11 +271,12 @@ const mixerList = [
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hasCustomServoMixer: false,
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enabled: true,
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motorMixer: [
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new MotorMixRule(1.0, -0.58, 0.58, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.46, -0.39, -0.5), // FRONT_R
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new MotorMixRule(1.0, 0.58, 0.58, -1.0), // REAR_L
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new MotorMixRule(1.0, 0.46, -0.39, 0.5), // FRONT_L
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]
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new MotorMixRule(1.0, -0.58, 0.58, 1.0), // REAR_R
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new MotorMixRule(1.0, -0.46, -0.39, -0.5), // FRONT_R
|
||||
new MotorMixRule(1.0, 0.58, 0.58, -1.0), // REAR_L
|
||||
new MotorMixRule(1.0, 0.46, -0.39, 0.5), // FRONT_L
|
||||
],
|
||||
servoMixer: []
|
||||
}, // 17
|
||||
{
|
||||
name: 'Hex H',
|
||||
|
|
@ -223,13 +285,14 @@ const mixerList = [
|
|||
hasCustomServoMixer: false,
|
||||
enabled: true,
|
||||
motorMixer: [
|
||||
new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
|
||||
new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
|
||||
new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
|
||||
new MotorMixRule(1.0, 1.0, -1.0, -1.0), // FRONT_L
|
||||
new MotorMixRule(1.0, 0.0, 0.0, 0.0), // RIGHT
|
||||
new MotorMixRule(1.0, 0.0, 0.0, 0.0), // LEFT
|
||||
]
|
||||
new MotorMixRule(1.0, -1.0, 1.0, -1.0), // REAR_R
|
||||
new MotorMixRule(1.0, -1.0, -1.0, 1.0), // FRONT_R
|
||||
new MotorMixRule(1.0, 1.0, 1.0, 1.0), // REAR_L
|
||||
new MotorMixRule(1.0, 1.0, -1.0, -1.0), // FRONT_L
|
||||
new MotorMixRule(1.0, 0.0, 0.0, 0.0), // RIGHT
|
||||
new MotorMixRule(1.0, 0.0, 0.0, 0.0), // LEFT
|
||||
],
|
||||
servoMixer: []
|
||||
}, // 18
|
||||
{
|
||||
name: 'PPM to SERVO',
|
||||
|
|
@ -237,7 +300,8 @@ const mixerList = [
|
|||
image: 'custom',
|
||||
hasCustomServoMixer: false,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
}, // 19
|
||||
{
|
||||
name: 'Dualcopter',
|
||||
|
|
@ -245,7 +309,8 @@ const mixerList = [
|
|||
image: 'custom',
|
||||
hasCustomServoMixer: false,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
}, // 20
|
||||
{
|
||||
name: 'Singlecopter',
|
||||
|
|
@ -253,7 +318,8 @@ const mixerList = [
|
|||
image: 'custom',
|
||||
hasCustomServoMixer: false,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
}, // 21
|
||||
{
|
||||
name: 'A-tail Quad',
|
||||
|
|
@ -262,11 +328,12 @@ const mixerList = [
|
|||
hasCustomServoMixer: false,
|
||||
enabled: true,
|
||||
motorMixer: [
|
||||
new MotorMixRule(1.0, 0.0, 1.0, 1.0), // REAR_R
|
||||
new MotorMixRule(1.0, -1.0, -1.0, 0.0), // FRONT_R
|
||||
new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR_L
|
||||
new MotorMixRule(1.0, 1.0, -1.0, -0.0), // FRONT_L
|
||||
]
|
||||
new MotorMixRule(1.0, 0.0, 1.0, 1.0), // REAR_R
|
||||
new MotorMixRule(1.0, -1.0, -1.0, 0.0), // FRONT_R
|
||||
new MotorMixRule(1.0, 0.0, 1.0, -1.0), // REAR_L
|
||||
new MotorMixRule(1.0, 1.0, -1.0, -0.0), // FRONT_L
|
||||
],
|
||||
servoMixer: []
|
||||
}, // 22
|
||||
{
|
||||
name: 'Custom',
|
||||
|
|
@ -274,7 +341,8 @@ const mixerList = [
|
|||
image: 'custom',
|
||||
hasCustomServoMixer: true,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
}, // 23
|
||||
{
|
||||
name: 'Custom Airplane',
|
||||
|
|
@ -282,14 +350,16 @@ const mixerList = [
|
|||
image: 'custom',
|
||||
hasCustomServoMixer: true,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
}, // 24
|
||||
{
|
||||
name: 'Custom Tricopter',
|
||||
model: 'custom',
|
||||
image: 'custom',
|
||||
name: 'Custom Tricopter',
|
||||
model: 'custom',
|
||||
image: 'custom',
|
||||
hasCustomServoMixer: true,
|
||||
enabled: false,
|
||||
motorMixer: []
|
||||
motorMixer: [],
|
||||
servoMixer: []
|
||||
} // 25
|
||||
];
|
||||
Loading…
Add table
Add a link
Reference in a new issue