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Copter: Y6 new motor factor fix

mission-4.1.18
Randy Mackay 11 years ago
parent
622a2053ff
commit
279d515e59
1 changed files with 6 additions and 6 deletions
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  1. 12
      libraries/AP_Motors/AP_MotorsY6.cpp

12
libraries/AP_Motors/AP_MotorsY6.cpp
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@ -30,12 +30,12 @@ void AP_MotorsY6::setup_motors() @@ -30,12 +30,12 @@ void AP_MotorsY6::setup_motors()
if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) {
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}else{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);

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