Adding ATAIL support.

See https://github.com/multiwii/baseflight/pull/192

src/main/flight/mixer.c

@@ -161,6 +161,13 @@ static const motorMixer_t mixerVtail4[] = {
     { 1.0f,  1.0f, -1.0f, -0.0f },          // FRONT_L
 };
 
+static const motorMixer_t mixerAtail4[] = {
+    { 1.0f, 0.0f, 1.0f, 1.0f },             // REAR_R
+    { 1.0f, -1.0f, -1.0f, 0.0f },           // FRONT_R
+    { 1.0f, 0.0f, 1.0f, -1.0f },            // REAR_L
+    { 1.0f, 1.0f, -1.0f, -0.0f },           // FRONT_L
+};
+
 static const motorMixer_t mixerHex6H[] = {
     { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
     { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
@@ -200,6 +207,7 @@ const mixer_t mixers[] = {
     { 0, 1, NULL },                // * MULTITYPE_PPM_TO_SERVO
     { 2, 1, mixerDualcopter  },    // MULTITYPE_DUALCOPTER
     { 1, 1, NULL },                // MULTITYPE_SINGLECOPTER
+    { 4, 0, mixerAtail4 },         // MULTITYPE_ATAIL4
     { 0, 0, NULL },                // MULTITYPE_CUSTOM
 };
 

src/main/flight/mixer.h

@@ -44,8 +44,9 @@ typedef enum MultiType
     MULTITYPE_PPM_TO_SERVO = 19,    // PPM -> servo relay
     MULTITYPE_DUALCOPTER = 20,
     MULTITYPE_SINGLECOPTER = 21,
-    MULTITYPE_CUSTOM = 22,          // no current GUI displays this
-    MULTITYPE_LAST = 23
+    MULTITYPE_ATAIL4 = 22,
+    MULTITYPE_CUSTOM = 23,
+    MULTITYPE_LAST = 24
 } MultiType;
 
 // Custom mixer data per motor

src/main/io/serial_cli.c

@@ -116,7 +116,7 @@ static const char * const mixerNames[] = {
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
     "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
     "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
-    "CUSTOM", NULL
+    "ATAIL4", "CUSTOM", NULL
 };
 
 // sync this with features_e