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Copter: improve OctaV roll factors

master
Randy Mackay 6 years ago
parent
0e34d8b1ff
commit
10da6d553c
1 changed files with 8 additions and 8 deletions
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  1. 16
      libraries/AP_Motors/AP_MotorsMatrix.cpp

16
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -629,14 +629,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
break; break;
case MOTOR_FRAME_TYPE_V: case MOTOR_FRAME_TYPE_V:
add_motor_raw(AP_MOTORS_MOT_1, 1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); add_motor_raw(AP_MOTORS_MOT_1, 0.83f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); add_motor_raw(AP_MOTORS_MOT_2, -0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); add_motor_raw(AP_MOTORS_MOT_3, 0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); add_motor_raw(AP_MOTORS_MOT_4, -0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); add_motor_raw(AP_MOTORS_MOT_5, 1.00f, 1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); add_motor_raw(AP_MOTORS_MOT_6, -0.83f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); add_motor_raw(AP_MOTORS_MOT_7, -1.00f, 1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); add_motor_raw(AP_MOTORS_MOT_8, 0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
break; break;
case MOTOR_FRAME_TYPE_H: case MOTOR_FRAME_TYPE_H:
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);

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