From 643966fb3e19cac5a553064bd7a24abb963ea346 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 19 Jan 2021 17:21:15 +0000 Subject: [PATCH] Copter: add SCRIPTING_MATRIX frame class --- ArduCopter/Parameters.cpp | 2 +- ArduCopter/system.cpp | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 84debb5580..e6bb2265fe 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -864,7 +864,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { // @Param: FRAME_CLASS // @DisplayName: Frame Class // @Description: Controls major frame class for multicopter component - // @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad, 14:Deca + // @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad, 14:Deca, 15:Scripting Matrix // @User: Standard // @RebootRequired: True AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS), diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp index 6b7fb14d11..be46000a79 100644 --- a/ArduCopter/system.cpp +++ b/ArduCopter/system.cpp @@ -500,6 +500,7 @@ void Copter::allocate_motors(void) case AP_Motors::MOTOR_FRAME_OCTAQUAD: case AP_Motors::MOTOR_FRAME_DODECAHEXA: case AP_Motors::MOTOR_FRAME_DECA: + case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX: default: motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz()); motors_var_info = AP_MotorsMatrix::var_info;