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mot_mixes.xml
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<?xml version="1.0"?>
<!--
AutoQuad Predefined Motor Mixes Configuration File
Distances in meters
Wieghts in grams
+1 == CW rotation
-1 == CCW rotation
'custom' type config requires 'motors' attribute and a 'geometry' section.
configId is for generating predefined mix tables for use with QGC. It is not required otherwise.
It should be > 3 and < 65.
The ID number is arbitrary, but must be unique and should not change once assigned.
For generating predefined PID-type mixes, distance and mass do not need to be specified (see example.xml).
-->
<quatos_configuration>
<!-- quads -->
<craft id="quad_plus" config="custom" motors="4" configId="4">
<geometry>
<motor rotation="+1" port="1">1,0</motor>
<motor rotation="-1" port="2">0,1</motor>
<motor rotation="+1" port="3">-1,0</motor>
<motor rotation="-1" port="4">0,-1</motor>
</geometry>
</craft>
<craft id="quad_x" config="quad_x" configId="5">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">3</port>
<port rotation="-1">4</port>
</ports>
</craft>
<!-- hexas -->
<craft id="hexa_plus" config="hex_plus" configId="10">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">3</port>
<port rotation="-1">4</port>
<port rotation="+1">5</port>
<port rotation="-1">6</port>
</ports>
</craft>
<craft id="hexa_x" config="hex_x" configId="11">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">3</port>
<port rotation="-1">4</port>
<port rotation="+1">5</port>
<port rotation="-1">6</port>
</ports>
</craft>
<!-- The YAW values on hexa_h come out wrong... The other values are the same as for hex_x. -->
<craft id="hexa_h" config="custom" motors="6" configId="12">
<geometry>
<motor rotation="+1" port="1">1,-0.57</motor>//Note that x axis runs from back to front and y axis from left to right
<motor rotation="-1" port="2">1,0.57</motor>
<motor rotation="+1" port="3">0,0.57</motor>
<motor rotation="-1" port="4">-1,0.57</motor>
<motor rotation="+1" port="5">-1,-0.57</motor>
<motor rotation="-1" port="6">0,-0.57</motor>
</geometry>
</craft>
<!-- The generated Pitch values for Y6 are 50% too high... need to adjust the output manually. -->
<craft id="hexa_coax" config="custom" motors="6" configId="13">
<geometry>
<motor rotation="+1" port="1">0.5,-.866</motor>//Note how x-y axis are defined above!
<motor rotation="-1" port="2">0.5,-.866</motor>
<motor rotation="+1" port="3">0.5,.866</motor>
<motor rotation="-1" port="4">0.5,.866</motor>
<motor rotation="-1" port="5">-1,0</motor>
<motor rotation="+1" port="6">-1,0</motor>
</geometry>
</craft>
<!-- "Reversed" Y6, with the single arm leading. -->
<craft id="hexa_coax_rev" config="custom" motors="6" configId="14">
<geometry>
<motor rotation="+1" port="1">1,0</motor>
<motor rotation="-1" port="2">1,0</motor>
<motor rotation="+1" port="3">-0.5,.866</motor>
<motor rotation="-1" port="4">-0.5,.866</motor>
<motor rotation="-1" port="5">-0.5,-.866</motor>
<motor rotation="+1" port="6">-0.5,-.866</motor>
</geometry>
</craft>
<!-- octos -->
<craft id="octo_plus" config="octo_plus" configId="30">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">3</port>
<port rotation="-1">4</port>
<port rotation="+1">5</port>
<port rotation="-1">6</port>
<port rotation="+1">7</port>
<port rotation="-1">8</port>
</ports>
</craft>
<craft id="octo_x" config="octo_x" configId="31">
<ports>
<port rotation="+1">1</port>
<port rotation="-1">2</port>
<port rotation="+1">3</port>
<port rotation="-1">4</port>
<port rotation="+1">5</port>
<port rotation="-1">6</port>
<port rotation="+1">7</port>
<port rotation="-1">8</port>
</ports>
</craft>
<craft id="octo_coax_plus" config="custom" motors="8" configId="32">
<geometry>
<motor rotation="+1" port="1">1,0</motor>
<motor rotation="-1" port="2">1,0</motor>
<motor rotation="-1" port="3">0,1</motor>
<motor rotation="+1" port="4">0,1</motor>
<motor rotation="+1" port="5">-1,0</motor>
<motor rotation="-1" port="6">-1,0</motor>
<motor rotation="-1" port="7">0,-1</motor>
<motor rotation="+1" port="8">0,-1</motor>
</geometry>
</craft>
<craft id="octo_coax_x" config="custom" motors="8" configId="33">
<geometry>
<motor rotation="+1" port="1">1,-1</motor>
<motor rotation="-1" port="2">1,-1</motor>
<motor rotation="-1" port="3">1,1</motor>
<motor rotation="+1" port="4">1,1</motor>
<motor rotation="+1" port="5">-1,1</motor>
<motor rotation="-1" port="6">-1,1</motor>
<motor rotation="-1" port="7">-1,-1</motor>
<motor rotation="+1" port="8">-1,-1</motor>
</geometry>
</craft>
<!-- "colinear octo" meaning 4 arms, two motors per arm, one set of motors is half-way between center of 'copter and the outer set of motors -->
<craft id="octo_colin_plus" config="custom" motors="8" configId="34">
<geometry>
<motor rotation="+1" port="1">1,0</motor>
<motor rotation="-1" port="2">0.5,0</motor>
<motor rotation="+1" port="3">0,1</motor>
<motor rotation="-1" port="4">0,0.5</motor>
<motor rotation="+1" port="5">-1,0</motor>
<motor rotation="-1" port="6">-0.5,0</motor>
<motor rotation="+1" port="7">0,-1</motor>
<motor rotation="-1" port="8">0,-0.5</motor>
</geometry>
</craft>
<craft id="octo_colin_x" config="custom" motors="8" configId="35">
<geometry>
<motor rotation="+1" port="1">1,-1</motor>
<motor rotation="-1" port="2">0.5,-0.5</motor>
<motor rotation="+1" port="3">1,1</motor>
<motor rotation="-1" port="4">0.5,0.5</motor>
<motor rotation="+1" port="5">-1,1</motor>
<motor rotation="-1" port="6">-0.5,0.5</motor>
<motor rotation="+1" port="7">-1,-1</motor>
<motor rotation="-1" port="8">-0.5,-0.5</motor>
</geometry>
</craft>
<!-- <craft id="octo_u" config="custom" motors="8" configId="36">
FIXME!
</craft> -->
<craft id="octo_square_plus" config="custom" motors="8" configId="37">
<geometry>
<motor rotation="+1" port="1">1,0</motor>
<motor rotation="-1" port="2">0.7,0.7</motor>
<motor rotation="+1" port="3">0,1</motor>
<motor rotation="-1" port="4">-0.7,0.7</motor>
<motor rotation="+1" port="5">-1,0</motor>
<motor rotation="-1" port="6">-0.7,-0.7</motor>
<motor rotation="+1" port="7">0,-1</motor>
<motor rotation="-1" port="8">0.7,-0.7</motor>
</geometry>
</craft>
<craft id="octo_square_x" config="custom" motors="8" configId="38">
<geometry>
<motor rotation="+1" port="1">1,-1</motor>
<motor rotation="-1" port="2">1,0</motor>
<motor rotation="+1" port="3">1,1</motor>
<motor rotation="-1" port="4">0,1</motor>
<motor rotation="+1" port="5">-1,1</motor>
<motor rotation="-1" port="6">-1,0</motor>
<motor rotation="+1" port="7">-1,-1</motor>
<motor rotation="-1" port="8">0,-1</motor>
</geometry>
</craft>
<!-- Use configId 50-59 for anything that doesn't fit above. -->
<!-- Use configId 60-64 for custom types. -->
</quatos_configuration>