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Code Issues Releases Activity

OP-1063 Multi_config_Hexa_fixes : Uncrustify

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This commit is contained in:
Laurent Lalanne 2014-07-14 15:59:26 +02:00
parent 748a522b5d
commit d2471361bb
4 changed files with 115 additions and 115 deletions
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140
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -186,21 +186,21 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter")); setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
m_aircraft->mrRollMixLevel->setValue(100); // Old Roll 50 - Pitch 33 - Yaw 33 m_aircraft->mrRollMixLevel->setValue(100); // Old Roll 50 - Pitch 33 - Yaw 33
m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix m_aircraft->mrPitchMixLevel->setValue(100); // Do not alter mixer matrix
setYawMixLevel(100); setYawMixLevel(100);
} else if (frameType == "HexaX" || frameType == "Hexacopter X") { } else if (frameType == "HexaX" || frameType == "Hexacopter X") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter X")); m_aircraft->multirotorFrameType->findText("Hexacopter X"));
m_aircraft->mrRollMixLevel->setValue(100); // Old: Roll 33 - Pitch 50 - Yaw 33 m_aircraft->mrRollMixLevel->setValue(100); // Old: Roll 33 - Pitch 50 - Yaw 33
m_aircraft->mrPitchMixLevel->setValue(100);// Do not alter mixer matrix m_aircraft->mrPitchMixLevel->setValue(100); // Do not alter mixer matrix
setYawMixLevel(100); setYawMixLevel(100);
} else if (frameType == "HexaH" || frameType == "Hexacopter H") { } else if (frameType == "HexaH" || frameType == "Hexacopter H") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Hexacopter H")); m_aircraft->multirotorFrameType->findText("Hexacopter H"));
m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(100);// All mixers RPY levels = 100% m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
setYawMixLevel(100); setYawMixLevel(100);
} else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") { } else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, setComboCurrentIndex(m_aircraft->multirotorFrameType,
@ -212,13 +212,13 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
} else if (frameType == "Octo" || frameType == "Octocopter") { } else if (frameType == "Octo" || frameType == "Octocopter") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter")); setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100% m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
setYawMixLevel(100); setYawMixLevel(100);
} else if (frameType == "OctoX" || frameType == "Octocopter X") { } else if (frameType == "OctoX" || frameType == "Octocopter X") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter X")); setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter X"));
m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100% m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
setYawMixLevel(100); setYawMixLevel(100);
} else if (frameType == "OctoV" || frameType == "Octocopter V") { } else if (frameType == "OctoV" || frameType == "Octocopter V") {
@ -314,22 +314,22 @@ void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent)
void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData) void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
{ {
configData->multi.VTOLMotorN = 0; configData->multi.VTOLMotorN = 0;
configData->multi.VTOLMotorNE = 0; configData->multi.VTOLMotorNE = 0;
configData->multi.VTOLMotorE = 0; configData->multi.VTOLMotorE = 0;
configData->multi.VTOLMotorSE = 0; configData->multi.VTOLMotorSE = 0;
configData->multi.VTOLMotorS = 0; configData->multi.VTOLMotorS = 0;
configData->multi.VTOLMotorSW = 0; configData->multi.VTOLMotorSW = 0;
configData->multi.VTOLMotorW = 0; configData->multi.VTOLMotorW = 0;
configData->multi.VTOLMotorNW = 0; configData->multi.VTOLMotorNW = 0;
configData->multi.TRIYaw = 0; configData->multi.TRIYaw = 0;
configData->multi.VTOLMotorNNE = 0; configData->multi.VTOLMotorNNE = 0;
configData->multi.VTOLMotorENE = 0; configData->multi.VTOLMotorENE = 0;
configData->multi.VTOLMotorESE = 0; configData->multi.VTOLMotorESE = 0;
configData->multi.VTOLMotorSSE = 0; configData->multi.VTOLMotorSSE = 0;
configData->multi.VTOLMotorSSW = 0; configData->multi.VTOLMotorSSW = 0;
configData->multi.VTOLMotorWSW = 0; configData->multi.VTOLMotorWSW = 0;
configData->multi.VTOLMotorWNW = 0; configData->multi.VTOLMotorWNW = 0;
configData->multi.VTOLMotorNNW = 0; configData->multi.VTOLMotorNNW = 0;
} }
@ -418,13 +418,13 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1; int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
//get motor 1 value for Pitch // get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH); double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
//get motor 2 value for Yaw and Roll // get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
// change channels // change channels
@ -447,11 +447,11 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1; int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
//get motor 1 value for Pitch // get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH); double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
//get motor 2 value for Yaw and Roll // get motor 2 value for Yaw and Roll
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
@ -475,17 +475,17 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1; int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) { if (channel > -1) {
//get motor 1 value for Pitch // get motor 1 value for Pitch
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH); double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
//get motor 2 value for Yaw and Roll // get motor 2 value for Yaw and Roll
channel += 1; channel += 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27)); m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} }
} else if (frameType == "HexaCoax") { } else if (frameType == "HexaCoax") {
@ -539,7 +539,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27)); m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} else if (frameType == "OctoV") { } else if (frameType == "OctoV") {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH); double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
@ -586,11 +586,11 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
// Get M2 Roll value // Get M2 Roll value
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27)); m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} }
} else if (frameType == "OctoCoaxX") { } else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc // Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -681,16 +681,16 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// YAW {-0.50, 1.00, -0.50, 0.50, -1.00, 0.50} // YAW {-0.50, 1.00, -0.50, 0.50, -1.00, 0.50}
// --------------------------------------------- // ---------------------------------------------
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing // http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw // pitch roll yaw
double hMixer[8][3] = { double hMixer[8][3] = {
{ 1 , -0.5, -0.5 }, { 1, -0.5, -0.5 },
{ 0 , -1 , 1 }, { 0, -1, 1 },
{ -1 , -0.5, -0.5 }, { -1, -0.5, -0.5 },
{ -1 , 0.5, 0.5 }, { -1, 0.5, 0.5 },
{ 0 , 1 , -1 }, { 0, 1, -1 },
{ 1 , 0.5, 0.5 }, { 1, 0.5, 0.5 },
{ 0, 0, 0 }, { 0, 0, 0 },
{ 0, 0, 0 } { 0, 0, 0 }
}; };
setupMultiRotorMixer(hMixer); setupMultiRotorMixer(hMixer);
m_aircraft->mrStatusLabel->setText(tr("Configuration OK")); m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -738,14 +738,14 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing // http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw // pitch roll yaw
double mixerMatrix[8][3] = { double mixerMatrix[8][3] = {
{ 1 , 0 , -1 }, { 1, 0, -1 },
{ 0.71,-0.71, 1 }, { 0.71, -0.71, 1 },
{ 0 ,-1 , -1 }, { 0, -1, -1 },
{ -0.71,-0.71, 1 }, { -0.71, -0.71, 1 },
{ -1 , 0 , -1 }, { -1, 0, -1 },
{ -0.71, 0.71, 1 }, { -0.71, 0.71, 1 },
{ 0 , 1 , -1 }, { 0, 1, -1 },
{ 0.71, 0.71, 1 } { 0.71, 0.71, 1 }
}; };
setupMultiRotorMixer(mixerMatrix); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText(tr("Configuration OK")); m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -769,14 +769,14 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing // http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw // pitch roll yaw
double mixerMatrix[8][3] = { double mixerMatrix[8][3] = {
{ 1 ,-0.41, -1 }, { 1, -0.41, -1 },
{ 0.41, -1 , 1 }, { 0.41, -1, 1 },
{ -0.41, -1 , -1 }, { -0.41, -1, -1 },
{ -1 ,-0.41, 1 }, { -1, -0.41, 1 },
{ -1 , 0.41, -1 }, { -1, 0.41, -1 },
{ -0.41, 1 , 1 }, { -0.41, 1, 1 },
{ 0.41, 1 , -1 }, { 0.41, 1, -1 },
{ 1 , 0.41, 1 } { 1, 0.41, 1 }
}; };
setupMultiRotorMixer(mixerMatrix); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText(tr("Configuration OK")); m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@ -1011,7 +1011,7 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
configData.multi.VTOLMotorW = index; configData.multi.VTOLMotorW = index;
} else if (motor == QString("VTOLMotorNW")) { } else if (motor == QString("VTOLMotorNW")) {
configData.multi.VTOLMotorNW = index; configData.multi.VTOLMotorNW = index;
//OctoX // OctoX
} else if (motor == QString("VTOLMotorNNE")) { } else if (motor == QString("VTOLMotorNNE")) {
configData.multi.VTOLMotorNNE = index; configData.multi.VTOLMotorNNE = index;
} else if (motor == QString("VTOLMotorENE")) { } else if (motor == QString("VTOLMotorENE")) {
@ -1128,14 +1128,14 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing // http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw // pitch roll yaw
double pMixer[8][3] = { double pMixer[8][3] = {
{ 1 , 0 , -1 }, { 1, 0, -1 },
{ 0.5, -1, 1 }, { 0.5, -1, 1 },
{ -0.5, -1, -1 }, { -0.5, -1, -1 },
{ -1 , 0 , 1 }, { -1, 0, 1 },
{ -0.5, 1 , -1 }, { -0.5, 1, -1 },
{ 0.5, 1 , 1 }, { 0.5, 1, 1 },
{ 0, 0, 0 }, { 0, 0, 0 },
{ 0, 0, 0 } { 0, 0, 0 }
}; };
// Motor 1 to 6, HexaX Layout // Motor 1 to 6, HexaX Layout
@ -1148,14 +1148,14 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
// http://wiki.paparazziuav.org/wiki/RotorcraftMixing // http://wiki.paparazziuav.org/wiki/RotorcraftMixing
// pitch roll yaw // pitch roll yaw
double xMixer[8][3] = { double xMixer[8][3] = {
{ 1, -0.5, -1 }, { 1, -0.5, -1 },
{ 0, -1 , 1 }, { 0, -1, 1 },
{ -1, -0.5, -1 }, { -1, -0.5, -1 },
{ -1, 0.5, 1 }, { -1, 0.5, 1 },
{ 0, 1 , -1 }, { 0, 1, -1 },
{ 1, 0.5, 1 }, { 1, 0.5, 1 },
{ 0, 0, 0 }, { 0, 0, 0 },
{ 0, 0, 0 } { 0, 0, 0 }
}; };
if (pLayout) { if (pLayout) {

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -265,8 +265,8 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter" || frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|| frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6" || frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6"
|| frameType == "Octo" || frameType == "Octocopter" || frameType == "Octo" || frameType == "Octocopter"
|| frameType == "OctoX" || frameType == "Octocopter X" || frameType == "OctoX" || frameType == "Octocopter X"
|| frameType == "OctoV" || frameType == "Octocopter V" || frameType == "OctoV" || frameType == "Octocopter V"
|| frameType == "OctoCoaxP" || frameType == "Octo Coax +" || frameType == "OctoCoaxP" || frameType == "Octo Coax +"
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") { || frameType == "OctoCoaxX" || frameType == "Octo Coax X") {

78
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -837,13 +837,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
{ {
frame = SystemSettings::AIRFRAMETYPE_HEXA; frame = SystemSettings::AIRFRAMETYPE_HEXA;
// HexaPlus according to new mixer table and pitch-roll-yaw mixing at 100% // HexaPlus according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw // Pitch Roll Yaw
//M1 { 1 , 0 , -1 }, // M1 { 1 , 0 , -1 },
//M2 { 0.5, -1, 1 }, // M2 { 0.5, -1, 1 },
//M3 { -0.5, -1, -1 }, // M3 { -0.5, -1, -1 },
//M4 { -1 , 0 , 1 }, // M4 { -1 , 0 , 1 },
//M5 { -0.5, 1 , -1 }, // M5 { -0.5, 1 , -1 },
//M6 { 0.5, 1 , 1 }, // M6 { 0.5, 1 , 1 },
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;
@ -954,13 +954,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
{ {
frame = SystemSettings::AIRFRAMETYPE_HEXAH; frame = SystemSettings::AIRFRAMETYPE_HEXAH;
// HexaH according to new mixer table and pitch-roll-yaw mixing at 100% // HexaH according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw // Pitch Roll Yaw
//M1 { 1 , -0.5, -0.5 }, // M1 { 1 , -0.5, -0.5 },
//M2 { 0 , -1 , 1 }, // M2 { 0 , -1 , 1 },
//M3 { -1 , -0.5, -0.5 }, // M3 { -1 , -0.5, -0.5 },
//M4 { -1 , 0.5, 0.5 }, // M4 { -1 , 0.5, 0.5 },
//M5 { 0 , 1 , -1 }, // M5 { 0 , 1 , -1 },
//M6 { 1 , 0.5, 0.5 }, // M6 { 1 , 0.5, 0.5 },
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;
@ -1016,13 +1016,13 @@ void VehicleConfigurationHelper::setupHexaCopter()
{ {
frame = SystemSettings::AIRFRAMETYPE_HEXAH; frame = SystemSettings::AIRFRAMETYPE_HEXAH;
// HexaX according to new mixer table and pitch-roll-yaw mixing at 100% // HexaX according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw // Pitch Roll Yaw
//M1 { 1, -0.5, -1 }, // M1 { 1, -0.5, -1 },
//M2 { 0, -1 , 1 }, // M2 { 0, -1 , 1 },
//M3 { -1, -0.5, -1 }, // M3 { -1, -0.5, -1 },
//M4 { -1, 0.5, 1 }, // M4 { -1, 0.5, 1 },
//M5 { 0, 1 , -1 }, // M5 { 0, 1 , -1 },
//M6 { 1, 0.5, 1 }, // M6 { 1, 0.5, 1 },
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;
@ -1092,15 +1092,15 @@ void VehicleConfigurationHelper::setupOctoCopter()
{ {
frame = SystemSettings::AIRFRAMETYPE_OCTO; frame = SystemSettings::AIRFRAMETYPE_OCTO;
// OctoP according to new mixer table and pitch-roll-yaw mixing at 100% // OctoP according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw // Pitch Roll Yaw
//M1{ 1 , 0 , -1 }, // M1{ 1 , 0 , -1 },
//M2{ 0.71,-0.71, 1 }, // M2{ 0.71,-0.71, 1 },
//M3{ 0 ,-1 , -1 }, // M3{ 0 ,-1 , -1 },
//M4{ -0.71,-0.71, 1 }, // M4{ -0.71,-0.71, 1 },
//M5{ -1 , 0 , -1 }, // M5{ -1 , 0 , -1 },
//M6{ -0.71, 0.71, 1 }, // M6{ -0.71, 0.71, 1 },
//M7{ 0 , 1 , -1 }, // M7{ 0 , 1 , -1 },
//M8{ 0.71, 0.71, 1 } // M8{ 0.71, 0.71, 1 }
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;
@ -1172,15 +1172,15 @@ void VehicleConfigurationHelper::setupOctoCopter()
{ {
frame = SystemSettings::AIRFRAMETYPE_OCTOX; frame = SystemSettings::AIRFRAMETYPE_OCTOX;
// OctoX according to new mixer table and pitch-roll-yaw mixing at 100% // OctoX according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw // Pitch Roll Yaw
//M1{ 1 ,-0.41, -1 }, // M1{ 1 ,-0.41, -1 },
//M2{ 0.41, -1 , 1 }, // M2{ 0.41, -1 , 1 },
//M3{ -0.41, -1 , -1 }, // M3{ -0.41, -1 , -1 },
//M4{ -1 ,-0.41, 1 }, // M4{ -1 ,-0.41, 1 },
//M5{ -1 , 0.41, -1 }, // M5{ -1 , 0.41, -1 },
//M6{ -0.41, 1 , 1 }, // M6{ -0.41, 1 , 1 },
//M7{ 0.41, 1 , -1 }, // M7{ 0.41, 1 , -1 },
//M8{ 1 , 0.41, 1 } // M8{ 1 , 0.41, 1 }
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;