Hi guys,
I have a question about the settings for a Vtail configuration. Because I found something not really clear to me.
Let’s begin with an easy example:
As in the previous threadone should use the following “custom” for a VTAIL 4/5 configuration:
http://s22.postimg.org/q6omktych/quadrino.jpg
it specifically calls some settings for the VTAIL which are already stored in configuration file. To be more precise in the file:
kipkool.h
That’s can be confirmed looking at the config.h file generated by the Quadrino Nano interface. The MY_PRIVATE_MIXING text is going to be replaced by the name of the file, everytime everywhere it is called.
FROM QUADRINO NANO
/*********************** your individual mixing ***********************/
/* if you want to override an existing entry in the mixing table, you may want to avoid editing the
* mixTable() function for every version again and again.
* howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
*/
#define MY_PRIVATE_MIXING "kipkool.h"Ok, now taking a look into the MultiWii 2.4 Software you can see (under the tab Output.cpp) where this file is going to be called. In the main mix table definition the custom settings are going to be recalled through the directive
which looks for the file “kipkool.h” in the current folder and loads all its parameters into the program.
/**************** main Mix Table ******************/
#if defined( MY_PRIVATE_MIXING )
#include MY_PRIVATE_MIXING
So far so good.
But now I have a first small problem because nowhere in my pc I can find the file “kipkool.h”, altough it compiles the whole program without an error. I would like to take a look into the file but I cannot find it anywhere. Even in the folder where Quadrino Nano has been installed I can’t find it.
Should it exit with a compilation error?!?!
Lately I opened the Arduino IDE and the MultiWii Driver. I tried to configure and compile the program on my own.
In there I put manually the directive to find that file (as Quadrino Nano interface automatically does) with the following line of code:
[code]FROM ARDUINO
/*********************** your individual mixing **********************/
/ if you want to override an existing entry in the mixing table, you may want to avoid editing the
- mixTable() function for every version again and again.
- howto: http://www.multiwii.com/wiki/index.php?title=Config.h#Individual_Mixing
*/
#define MY_PRIVATE_MIXING “kipkool.h” [/code]
and now I get the expected compilation error since it doesn’t find that file!
So I have now some questions:
]are the settings in “kipkool.h” already in Quadrino Nano let’s say…integrated? So the directive #include doesn’t call any file but loads datas from somewhere else (maybe directly online)?/:m]
*]is the “kipkool.h” file for a VTAIL configuration necessary? Because in the MultiWii Software the choice of the configuration is exclusive. That is visible in the tab Output.cpp where in the same section it calls either the custom settings:
#if defined( MY_PRIVATE_MIXING )
#include MY_PRIVATE_MIXING
......
or the VTAIL 4 settings:
#elif defined( VTAIL4 )
motor[0] = PIDMIX(+0,+1, +1); //REAR_R
motor[1] = PIDMIX(-1, -1, +0); //FRONT_R
motor[2] = PIDMIX(+0,+1, -1); //REAR_L
motor[3] = PIDMIX(+1, -1, -0); //FRONT_L
That means that if I want to load the settings in “kipkool.h” (and actually the compiler finds it) then they are going to overwrite the VTAIL 4 parameters, loaded at the beginning of the Quadrino configuration./*:m]
I hope that my english and my questions are somehow understandable.
I’m really willing to learn a lot about Quadrotor and Autopilot since I need it for my thesis.
Regards