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Code Issues Releases Activity

OP-1063 Multi_config_Hexa_fixes : Commented mixer matrix, cleanup.

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This commit is contained in:
Laurent Lalanne 2014-07-14 15:50:48 +02:00
parent 8c86b6d629
commit 748a522b5d
3 changed files with 47 additions and 28 deletions
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71
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -55,7 +55,8 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
// get the gui config data
GUIConfigDataUnion configData = getConfigData();
multiGUISettingsStruct multi = configData.multi;
/* Octocopter X motor definition */
// Octocopter X motor definition
if (multi.VTOLMotorNNE > 0 && multi.VTOLMotorNNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorNNE - 1] = QString("VTOLMotorNNE");
}
@ -672,13 +673,14 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 6, H layout (old hexaX)
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
// Motor 1 to 6, H layout
// ---------------------------------------------
// Motor: 1 2 3 4 5 6
// ROLL {-0.50, -1.00, -0.50, 0.50, 1.00, 0.50}
// PITCH {1.00, 0.00, -1.00, -1.00, -0.00, 1.00}
// YAW {-0.50, 1.00, -0.50, 0.50, -1.00, 0.50}
// ---------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw
double hMixer[8][3] = {
{ 1 , -0.5, -0.5 },
@ -726,8 +728,15 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW"
<< "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw (OctoP)
// Motor 1 to 8, OctoP
// -------------------------------------------------------
// Motor: 1 2 3 4 5 6 7 8
// ROLL {0.00, -0.71, -1.00, -0.71, 0.00, 0.71, 1.00, 0.71}
// PITCH {1.00, 0.71, -0.00, -0.71,-1.00,-0.71,-0.00, 0.71}
// YAW {-1.00, 1.00, -1.00, 1.00, -1.00, 1.00,-1.00, 1.00}
// -------------------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw
double mixerMatrix[8][3] = {
{ 1 , 0 , -1 },
{ 0.71,-0.71, 1 },
@ -750,8 +759,15 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
motorList << "VTOLMotorNNE" << "VTOLMotorENE" << "VTOLMotorESE" << "VTOLMotorSSE" << "VTOLMotorSSW" << "VTOLMotorWSW"
<< "VTOLMotorWNW" << "VTOLMotorNNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw (OctoX)
// Motor 1 to 8, OctoX
// --------------------------------------------------------
// Motor: 1 2 3 4 5 6 7 8
// ROLL {-0.41, -1.00, -1.00, -0.41, 0.41, 1.00, 1.00, 0.41}
// PITCH {1.00, 0.41, -0.41, -1.00, -1.00, -0.41, 0.41, 1.00}
// YAW {-1.00, 1.00, -1.00, 1.00, -1.00, 1.00, -1.00, 1.00}
// --------------------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw
double mixerMatrix[8][3] = {
{ 1 ,-0.41, -1 },
{ 0.41, -1 , 1 },
@ -1102,14 +1118,15 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
// and set only the relevant channels:
// Motor 1 to 6, P Layout:
// Motor 1 to 6, HexaP Layout
// ---------------------------------------------
// Motor: 1 2 3 4 5 6
// ROLL {0.00, -1.00, -1.00, 0.00, 1.00, 1.00}
// PITCH {1.00, 0.50, -0.50, -1.00, -0.50, 0.50}
// YAW {-1.00, 1.00, -1.00, 1.00, -1.00, 1.00}
// ---------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw
// 1 { 0.3 , 0 ,-0.3 // N CW
// 2 { 0.3 ,-0.5 , 0.3 // NE CCW
// 3 {-0.3 ,-0.5 ,-0.3 // SE CW
// 4 {-0.3 , 0 , 0.3 // S CCW
// 5 {-0.3 , 0.5 ,-0.3 // SW CW
// 6 { 0.3 , 0.5 , 0.3 // NW CCW
double pMixer[8][3] = {
{ 1 , 0 , -1 },
{ 0.5, -1, 1 },
@ -1121,13 +1138,15 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{ 0, 0, 0 }
};
// Motor 1 to 6, X Layout (Real X layout)
// 1 [ 0.5, -0.3, -0.3 ] NE
// 2 [ 0 , -0.3, 0.3 ] E
// 3 [ -0.5, -0.3, -0.3 ] SE
// 4 [ -0.5, 0.3, 0.3 ] SW
// 5 [ 0 , 0.3, -0.3 ] W
// 6 [ 0.5, 0.3, 0.3 ] NW
// Motor 1 to 6, HexaX Layout
// ---------------------------------------------
// Motor: 1 2 3 4 5 6
// ROLL {-0.50, -1.00, -0.50, 0.50, 1.00, 0.50}
// PITCH {1.00, 0.00, -1.00, -1.00, -0.00, 1.00}
// YAW {-1.00, 1.00, -1.00, 1.00, -1.00, 1.00}
// ---------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw
double xMixer[8][3] = {
{ 1, -0.5, -1 },
{ 0, -1 , 1 },

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
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@ -42,7 +42,7 @@ typedef struct {
uint VTOLMotorNE : 4;
uint VTOLMotorSW : 4;
uint VTOLMotorSE : 4; // 32 bits
/* OctoX */
// OctoX
uint VTOLMotorNNE : 4;
uint VTOLMotorENE : 4;
uint VTOLMotorESE : 4;

2
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
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@ -137,7 +137,7 @@ void OutputCalibrationPage::setupVehicleItems()
m_vehicleScene->addItem(m_vehicleBoundsItem);
QRectF parentBounds = m_vehicleRenderer->boundsOnElement(m_vehicleElementIds[0]);
qDebug() << "parentBounds " << parentBounds;
for (int i = 1; i < m_vehicleElementIds.size(); i++) {
QGraphicsSvgItem *item = new QGraphicsSvgItem();
item->setSharedRenderer(m_vehicleRenderer);