Automated updates of the C++ code generated by the multi_tables scrip…

…t, now it is placed into the mixer_multirotor.generated.h file which is generated by makefile
ArduPilot · Jan 5, 2015 · 59fa170 · 59fa170
1 parent c3ed35f
commit 59fa170
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Showing 4 changed files with 18 additions and 113 deletions.
diff --git a/.gitignore b/.gitignore
@@ -40,3 +40,4 @@ tags
 *.orig
 Firmware.zip
 unittests/build
+*.generated.h
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -73,118 +73,8 @@ float constrain(float val, float min, float max)
 	return (val < min) ? min : ((val > max) ? max : val);
 }
 
-/*
- * These tables automatically generated by multi_tables - do not edit.
- */
-
-const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107,  1.000000 },
-	{  0.707107, -0.707107,  1.000000 },
-	{  0.707107,  0.707107, -1.000000 },
-	{ -0.707107, -0.707107, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000,  1.000000 },
-	{  1.000000,  0.000000,  1.000000 },
-	{  0.000000,  1.000000, -1.000000 },
-	{ -0.000000, -1.000000, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.322266,  0.946649,  0.424200 },
-	{  0.322266,  0.946649,  1.000000 },
-	{  0.322266,  0.946649, -0.424200 },
-	{ -0.322266,  0.946649, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_quad_wide[] = {
-	{ -0.927184,  0.374607,  1.000000 },
-	{  0.777146, -0.629320,  1.000000 },
-	{  0.927184,  0.374607, -1.000000 },
-	{ -0.777146, -0.629320, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_hex_x[] = {
-	{ -1.000000,  0.000000, -1.000000 },
-	{  1.000000,  0.000000,  1.000000 },
-	{  0.500000,  0.866025, -1.000000 },
-	{ -0.500000, -0.866025,  1.000000 },
-	{ -0.500000,  0.866025,  1.000000 },
-	{  0.500000, -0.866025, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000, -1.000000 },
-	{ -0.000000, -1.000000,  1.000000 },
-	{  0.866025, -0.500000, -1.000000 },
-	{ -0.866025,  0.500000,  1.000000 },
-	{  0.866025,  0.500000,  1.000000 },
-	{ -0.866025, -0.500000, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_hex_cox[] = {
-	{ -0.866025,  0.500000, -1.000000 },
-	{ -0.866025,  0.500000,  1.000000 },
-	{ -0.000000, -1.000000, -1.000000 },
-	{ -0.000000, -1.000000,  1.000000 },
-	{  0.866025,  0.500000, -1.000000 },
-	{  0.866025,  0.500000,  1.000000 },
-};
-const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880, -1.000000 },
-	{  0.382683, -0.923880, -1.000000 },
-	{ -0.923880,  0.382683,  1.000000 },
-	{ -0.382683, -0.923880,  1.000000 },
-	{  0.382683,  0.923880,  1.000000 },
-	{  0.923880, -0.382683,  1.000000 },
-	{  0.923880,  0.382683, -1.000000 },
-	{ -0.923880, -0.382683, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000, -1.000000 },
-	{ -0.000000, -1.000000, -1.000000 },
-	{ -0.707107,  0.707107,  1.000000 },
-	{ -0.707107, -0.707107,  1.000000 },
-	{  0.707107,  0.707107,  1.000000 },
-	{  0.707107, -0.707107,  1.000000 },
-	{  1.000000,  0.000000, -1.000000 },
-	{ -1.000000,  0.000000, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_octa_cox[] = {
-	{ -0.707107,  0.707107,  1.000000 },
-	{  0.707107,  0.707107, -1.000000 },
-	{  0.707107, -0.707107,  1.000000 },
-	{ -0.707107, -0.707107, -1.000000 },
-	{  0.707107,  0.707107,  1.000000 },
-	{ -0.707107,  0.707107, -1.000000 },
-	{ -0.707107, -0.707107,  1.000000 },
-	{  0.707107, -0.707107, -1.000000 },
-};
-const MultirotorMixer::Rotor _config_twin_engine[] = {
-	{ -1.000000,  0.000000,  0.000000 },
-	{  1.000000,  0.000000,  0.000000 },
-};
-const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
-	&_config_quad_x[0],
-	&_config_quad_plus[0],
-	&_config_quad_v[0],
-	&_config_quad_wide[0],
-	&_config_hex_x[0],
-	&_config_hex_plus[0],
-	&_config_hex_cox[0],
-	&_config_octa_x[0],
-	&_config_octa_plus[0],
-	&_config_octa_cox[0],
-	&_config_twin_engine[0],
-};
-const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
-	4, /* quad_x */
-	4, /* quad_plus */
-	4, /* quad_v */
-	4, /* quad_wide */
-	6, /* hex_x */
-	6, /* hex_plus */
-	6, /* hex_cox */
-	8, /* octa_x */
-	8, /* octa_plus */
-	8, /* octa_cox */
-	2, /* twin_engine */
-};
+// This file is generated by the multi_tables script which is invoked during the build process
+#include "mixer_multirotor.generated.h"
 
 }
 

diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk
@@ -31,13 +31,18 @@
 #
 ############################################################################
 
+
 #
 # mixer library
 #
 LIBNAME	= mixerlib
-
+	
 SRCS		= mixer.cpp \
 		  mixer_group.cpp \
 		  mixer_multirotor.cpp \
 		  mixer_simple.cpp \
 		  mixer_load.c
+
+SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
+$(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables
+	$(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
@@ -3,6 +3,12 @@
 # Generate multirotor mixer scale tables compatible with the ArduCopter layout
 #
 
+
+puts "/*"
+puts "* These tables automatically generated by multi_tables - do not edit."
+puts "*/"
+puts ""
+
 proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
 proc rcos {a} { expr cos([rad $a])}
 
@@ -133,3 +139,6 @@ foreach table $tables {
 	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
 }
 puts "};"
+
+# Newline at the end of file
+puts ""