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Add Mixer quad1234

This commit is contained in:
borisbstyle 2016-01-13 23:08:14 +01:00
parent f269f653f5
commit 10809ba6b6
3 changed files with 12 additions and 2 deletions
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9
src/main/flight/mixer.c
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@ -206,6 +206,13 @@ static const motorMixer_t mixerSingleProp[] = {
{ 1.0f, 0.0f, 0.0f, 0.0f }, { 1.0f, 0.0f, 0.0f, 0.0f },
}; };
static const motorMixer_t mixerQuadX1234[] = {
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
};
// Keep synced with mixerMode_e // Keep synced with mixerMode_e
const mixer_t mixers[] = { const mixer_t mixers[] = {
// motors, use servo, motor mixer // motors, use servo, motor mixer
@ -235,6 +242,7 @@ const mixer_t mixers[] = {
{ 0, false, NULL }, // MIXER_CUSTOM { 0, false, NULL }, // MIXER_CUSTOM
{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE { 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
{ 3, true, NULL }, // MIXER_CUSTOM_TRI { 3, true, NULL }, // MIXER_CUSTOM_TRI
{ 4, false, mixerQuadX1234 },
}; };
#endif #endif
@ -318,6 +326,7 @@ const mixerRules_t servoMixers[] = {
{ 0, NULL }, // MULTITYPE_CUSTOM { 0, NULL }, // MULTITYPE_CUSTOM
{ 0, NULL }, // MULTITYPE_CUSTOM_PLANE { 0, NULL }, // MULTITYPE_CUSTOM_PLANE
{ 0, NULL }, // MULTITYPE_CUSTOM_TRI { 0, NULL }, // MULTITYPE_CUSTOM_TRI
{ 0, NULL },
}; };
static servoMixer_t *customServoMixers; static servoMixer_t *customServoMixers;

3
src/main/flight/mixer.h
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@ -50,7 +50,8 @@ typedef enum mixerMode
MIXER_ATAIL4 = 22, MIXER_ATAIL4 = 22,
MIXER_CUSTOM = 23, MIXER_CUSTOM = 23,
MIXER_CUSTOM_AIRPLANE = 24, MIXER_CUSTOM_AIRPLANE = 24,
MIXER_CUSTOM_TRI = 25 MIXER_CUSTOM_TRI = 25,
MIXER_QUADX_1234 = 26
} mixerMode_e; } mixerMode_e;
// Custom mixer data per motor // Custom mixer data per motor

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

@ -164,7 +164,7 @@ 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",
"ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", NULL "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234", NULL
}; };
#endif #endif