diff --git a/include/mixer.h b/include/mixer.h index b5bf3b63..964a0f1b 100644 --- a/include/mixer.h +++ b/include/mixer.h @@ -108,74 +108,67 @@ class Mixer : public ParamListenerInterface const mixer_t esc_calibration_mixing = {{M, M, M, M, M, M, NONE, NONE}, - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix - {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - 490}; - - const mixer_t quadcopter_plus_mixing = { - {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix - {0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - {1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix - 490}; - - const mixer_t quadcopter_x_mixing = { - {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix - {-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - {1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix - 490}; - - const mixer_t hex_plus_mixing = { - {M, M, M, M, M, M, M, M}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix - {0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f}, // X Mix - {1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix - 490}; - - const mixer_t hex_x_mixing = { - {M, M, M, M, M, M, M, M}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix - {-0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f}, // X Mix - {0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix - 490}; - - const mixer_t octocopter_plus_mixing = { - {M, M, M, M, M, M, M, M}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix - {0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f}, // X Mix - {1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix - 490}; - - const mixer_t octocopter_x_mixing = { - {M, M, M, M, M, M, M, M}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix - {-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414}, // X Mix - {1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix - 490}; - - const mixer_t Y6_mixing = { - {M, M, M, M, M, M, NONE, NONE}, // output_type - - {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix - {-1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // X Mix - {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f}, // Y Mix - {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix - 490}; + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix + {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + 490}; + + const mixer_t quadcopter_plus_mixing = {{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix + {0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix + 490}; + + const mixer_t quadcopter_x_mixing = {{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix + {-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix + 490}; + + const mixer_t hex_plus_mixing = {{M, M, M, M, M, M, M, M}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix + {0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f}, // X Mix + {1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix + 490}; + + const mixer_t hex_x_mixing = {{M, M, M, M, M, M, M, M}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix + {-0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f}, // X Mix + {0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix + 490}; + + const mixer_t octocopter_plus_mixing = {{M, M, M, M, M, M, M, M}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix + {0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f}, // X Mix + {1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix + 490}; + + const mixer_t octocopter_x_mixing = {{M, M, M, M, M, M, M, M}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix + {-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414}, // X Mix + {1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix + 490}; + + const mixer_t Y6_mixing = {{M, M, M, M, M, M, NONE, NONE}, // output_type + + {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix + {-1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // X Mix + {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f}, // Y Mix + {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix + 490}; const mixer_t X8_mixing = {{M, M, M, M, M, M, M, M}, // output_type @@ -185,14 +178,13 @@ class Mixer : public ParamListenerInterface {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix 490}; - const mixer_t tricopter_mixing = { - {M, M, M, S, NONE, NONE, NONE, NONE}, // output_type + const mixer_t tricopter_mixing = {{M, M, M, S, NONE, NONE, NONE, NONE}, // output_type - {1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix - {-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix - {0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix - {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix - 490}; + {1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix + {-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix + {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix + 490}; const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE}, // output type @@ -202,14 +194,14 @@ class Mixer : public ParamListenerInterface {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix 50}; - const mixer_t fixedwing_vtail_mixing = { + const mixer_t fixedwing_vtail_mixing = { {M, S, S, S, S, S, S, S}, // output type - Motor | LAil | RAil | LRudVator | RRudVator | LAirBrake | RAirBrake | LandingGear - {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix - {0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix + {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix + {0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix {0.0f, 0.0f, 0.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Y Mix - {0.0f, 0.0f, 0.0f, 0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Z Mix + {0.0f, 0.0f, 0.0f, 0.5f, 0.5f, 0.0f, 0.0f, 0.0f}, // Z Mix 50}; const mixer_t custom_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type