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AP_Motors: add H frame support for hexa and octa

mission-4.1.18
Randy Mackay 8 years ago
parent
a52b1dd18f
commit
872e0567be
1 changed files with 20 additions and 0 deletions
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  1. 20
      libraries/AP_Motors/AP_MotorsMatrix.cpp

20
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -476,6 +476,15 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty @@ -476,6 +476,15 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
success = true;
break;
case MOTOR_FRAME_TYPE_H:
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
success = true;
break;
default:
// hexa frame class does not support this frame type
break;
@ -517,6 +526,17 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty @@ -517,6 +526,17 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor_raw(AP_MOTORS_MOT_8, 0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
success = true;
break;
case MOTOR_FRAME_TYPE_H:
add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
success = true;
break;
default:
// octa frame class does not support this frame type
break;

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