From af44e9fdbdaa22985af9276d01ac8a127336f276 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 6 Feb 2017 15:01:51 +1100 Subject: [PATCH] AP_Motors: added frame type 11 for Y6 to match FireFly6 using same motor output mapping as AvA --- libraries/AP_Motors/AP_MotorsMatrix.cpp | 10 ++++++++++ libraries/AP_Motors/AP_Motors_Class.h | 3 ++- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp index c6ffedfbbe..722ad098d2 100644 --- a/libraries/AP_Motors/AP_MotorsMatrix.cpp +++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp @@ -588,6 +588,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); success = true; break; + case MOTOR_FRAME_TYPE_Y6F: + // Y6 motor layout for FireFlyY6 + add_motor_raw(AP_MOTORS_MOT_1, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); + add_motor_raw(AP_MOTORS_MOT_2, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); + add_motor_raw(AP_MOTORS_MOT_3, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); + add_motor_raw(AP_MOTORS_MOT_4, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4); + add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); + add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); + success = true; + break; default: add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h index 8f490ac2fb..fe20a70452 100644 --- a/libraries/AP_Motors/AP_Motors_Class.h +++ b/libraries/AP_Motors/AP_Motors_Class.h @@ -44,7 +44,8 @@ public: MOTOR_FRAME_TYPE_H = 3, MOTOR_FRAME_TYPE_VTAIL = 4, MOTOR_FRAME_TYPE_ATAIL = 5, - MOTOR_FRAME_TYPE_Y6B = 10 + MOTOR_FRAME_TYPE_Y6B = 10, + MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6 }; // Constructor