Merge pull request #253 from sjwilks/quad_xv_mode

Add support for quads with offset arms such as the TBS Discovery

ROMFS/Makefile

@@ -32,6 +32,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
 		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
 		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
+                   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
 		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
 		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
 		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \

ROMFS/mixers/FMU_quad_v.mix

+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.
+
+R: 4v 10000 10000 10000 0

apps/systemlib/mixer/mixer.h

@@ -418,6 +418,7 @@ public:
 	enum Geometry {
 		QUAD_X = 0,	/**< quad in X configuration */
 		QUAD_PLUS,	/**< quad in + configuration */
+		QUAD_V,		/**< quad in V configuration */
 		HEX_X,		/**< hex in X configuration */
 		HEX_PLUS,	/**< hex in + configuration */
 		OCTA_X,

apps/systemlib/mixer/mixer_multirotor.cpp

@@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
 	{  0.000000,  1.000000, -1.00 },
 	{ -0.000000, -1.000000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_quad_v[] = {
+	{ -0.927184,  0.374607,  1.00 },
+	{  0.694658, -0.719340,  1.00 },
+	{  0.927184,  0.374607, -1.00 },
+	{ -0.694658, -0.719340, -1.00 },
+};
 const MultirotorMixer::Rotor _config_hex_x[] = {
 	{ -1.000000,  0.000000, -1.00 },
 	{  1.000000,  0.000000,  1.00 },
@@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
+	&_config_quad_v[0],
 	&_config_hex_x[0],
 	&_config_hex_plus[0],
 	&_config_octa_x[0],
@@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
 const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	4, /* quad_x */
 	4, /* quad_plus */
+	4, /* quad_v */
 	6, /* hex_x */
 	6, /* hex_plus */
 	8, /* octa_x */
@@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4x")) {
 		geometry = MultirotorMixer::QUAD_X;
 
+	} else if (!strcmp(geomname, "4v")) {
+		geometry = MultirotorMixer::QUAD_V;
+
 	} else if (!strcmp(geomname, "6+")) {
 		geometry = MultirotorMixer::HEX_PLUS;
 

apps/systemlib/mixer/multi_tables

@@ -20,6 +20,13 @@ set quad_plus {
 	 180 CW
 }
 
+set quad_v {
+	  68 CCW
+	-136 CCW
+	 -68 CW
+	 136 CW
+}
+
 set hex_x {
 	  90 CW
 	 -90 CCW
@@ -60,7 +67,7 @@ set octa_plus {
 	  90 CW
 }
 
-set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
+set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}