Thanks Langxm1223, I get it, but there are other questions, such as:
- How to specify the position of motors, arm length, tilt angle of motor, …?
- To me, the following definition, which only specifies the arm angle and motor direction, is not enough for my configuration :
quad_x = [
[ 45, CCW],
[-135, CCW],
[-45, CW],
[135, CW],
]
So I take a look of the mixer_multirotor.generated.h
file, which is generated by the multi_table.py
.
I found that besides the configuration defined in the multi_table.py
, there are other configs, such as
const MultirotorMixer::Rotor _config_quad_vtail[] = {
{ -2.331288, 1.111111, -0.674847, 0.277778 },
{ 0.057841, -1.571348, -0.231364, 0.314270 },
{ 2.331288, 1.111111, 0.674847, 0.277778 },
{ -0.057841, -1.571348, 0.231364, 0.314270 },
};
I further found that, in /Firmware/src/lib/mixer/geometries
, there are files quad_vtail, etc. This toml file is actually specify all the geometry info. However, here are my next questions:
- Why does not
multi_table.py
mention about these quad_vtail.toml file, but it is still generated in the mixer_multirotor.generated.h
?
- @mhkabir, I see you pull the request for the documents of this topic, but I can not find it from anywhere?
Thanks for your help.