multiwii/baseflight — pull request #27 by treymarc (2014-01-01 08:45:29+00:00)
Title: correction for mixerHex6P and mixerHex6X

hi,

imho : here are the correct mixers

static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
};
static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
};

plus a minor ident issue in board.h