Protected Attributes

MatrixKinematics Class Reference

Matrix based kinematics module. More...

#include <matrixkinematics.h>

Inheritance diagram for MatrixKinematics:
Kinematics Module

List of all members.

Protected Attributes

PlugF m_outputs [MATRIX_OUTPUTS]

Detailed Description

Matrix based kinematics module.

This can be configured for most types of rotary wing craft from helicopters to 12 or more rotors, all at different spacings. /**
Sockets exposed: None

external sockets expected: These are defined in the config. Unusually outputs are also external sockets.


Configuration: 

//Uncomment one of the #defines below for a standard config
//For more exotic stuff, look at the nearest standard config in MatrixKinematics.h and
//base your config on that. In that case, do not uncomment any of the following
//#define MATRIX_TRICOPTER_YAWTAIL
//#define MATRIX_TRICOPTER_YAWFRONT
//MATRIX_QUAD_X
//MATRIX_QUAD_PLUS

#define MATRIX_INTERVAL 5
#include "matrixkinematics.h"
Output allocation for tricopters:
Servo.1 - Yaw servo
FastServo.1 - Yaw motor
FastServo.2 - Right motor
FastServo.3 - Left motor
Output allocation for MATRIX_QUAD_X:
FastServo.1 - Front left (CW)
FastServo.2 - Front right (CCW)
FastServo.3 - Rear right (CW)
FastServo.4 - Front left (CCW)
Output allocation for MATRIX_QUAD_PLUS:
FastServo.1 - Front (CW)
FastServo.2 - Right (CCW)
FastServo.3 - Rear (CW)
FastServo.4 - Left (CCW)

Member Data Documentation

PlugF MatrixKinematics::m_outputs[MATRIX_OUTPUTS] [protected]
The documentation for this class was generated from the following file:
 All Classes Namespaces Files Functions Variables Enumerations Enumerator Defines
Generated on Sat Jun 19 2010 13:30:33 for FlightOS by  doxygen 1.7.0