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SITL: added Y6 frame

mission-4.1.18
Andrew Tridgell 9 years ago
parent
dea1fec14d
commit
71ca534ec6
2 changed files with 32 additions and 1 deletions
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  1. 27
      libraries/SITL/SIM_Frame.cpp
  2. 6
      libraries/SITL/SIM_QuadPlane.cpp

27
libraries/SITL/SIM_Frame.cpp
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@ -91,6 +91,29 @@ static const Motor tri_motors[] = @@ -91,6 +91,29 @@ static const Motor tri_motors[] =
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, -45, 45, -1, 0, 0),
};
static const Motor y6_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
};
/*
FireflyY6 is a Y6 with front motors tiltable
*/
static const Motor firefly_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
};
/*
table of supported frame types
*/
@ -104,7 +127,9 @@ static Frame supported_frames[] = @@ -104,7 +127,9 @@ static Frame supported_frames[] =
Frame("hexax", 6, hexax_motors),
Frame("octa", 8, octa_motors),
Frame("octa-quad", 8, octa_quad_motors),
Frame("tri", 3, tri_motors)
Frame("tri", 3, tri_motors),
Frame("y6", 6, y6_motors),
Frame("firefly", 6, firefly_motors)
};
void Frame::init(float _mass, float hover_throttle, float _terminal_velocity, float _terminal_rotation_rate)

6
libraries/SITL/SIM_QuadPlane.cpp
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@ -45,6 +45,12 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) : @@ -45,6 +45,12 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
frame_type = "hexa";
} else if (strstr(frame_str, "-plus")) {
frame_type = "+";
} else if (strstr(frame_str, "-plus")) {
frame_type = "+";
} else if (strstr(frame_str, "-y6")) {
frame_type = "y6";
} else if (strstr(frame_str, "-firefly")) {
frame_type = "firefly";
}
frame = Frame::find_frame(frame_type);
if (frame == nullptr) {

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