Copter: add Y6 with all top props CW

Set FRAME parameter to 10

libraries/AP_Motors/AP_MotorsY6.cpp

@@ -28,11 +28,21 @@ void AP_MotorsY6::setup_motors()
     // call parent
     AP_MotorsMatrix::setup_motors();
 
-    // MultiWii set-up
-    add_motor_raw(AP_MOTORS_MOT_1, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
-    add_motor_raw(AP_MOTORS_MOT_2,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
-    add_motor_raw(AP_MOTORS_MOT_3,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
-    add_motor_raw(AP_MOTORS_MOT_4,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
-    add_motor_raw(AP_MOTORS_MOT_5, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
-    add_motor_raw(AP_MOTORS_MOT_6,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+    if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) {
+        // Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
+        add_motor_raw(AP_MOTORS_MOT_1, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+        add_motor_raw(AP_MOTORS_MOT_2, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+        add_motor_raw(AP_MOTORS_MOT_3,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
+        add_motor_raw(AP_MOTORS_MOT_4,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
+        add_motor_raw(AP_MOTORS_MOT_5,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
+        add_motor_raw(AP_MOTORS_MOT_6,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
+    }else{
+        // original Y6 motor definition
+        add_motor_raw(AP_MOTORS_MOT_1, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+        add_motor_raw(AP_MOTORS_MOT_2,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
+        add_motor_raw(AP_MOTORS_MOT_3,  1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
+        add_motor_raw(AP_MOTORS_MOT_4,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+        add_motor_raw(AP_MOTORS_MOT_5, -1.0,  0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+        add_motor_raw(AP_MOTORS_MOT_6,  0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+    }
 }

libraries/AP_Motors/AP_Motors_Class.h

@@ -38,6 +38,10 @@
 #define AP_MOTORS_X_FRAME           1
 #define AP_MOTORS_V_FRAME           2
 #define AP_MOTORS_H_FRAME           3   // same as X frame but motors spin in opposite direction
+#define AP_MOTORS_NEW_PLUS_FRAME    10  // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front
+#define AP_MOTORS_NEW_X_FRAME       11
+#define AP_MOTORS_NEW_V_FRAME       12
+#define AP_MOTORS_NEW_H_FRAME       13   // same as X frame but motors spin in opposite direction
 
 // motor update rate
 #define AP_MOTORS_SPEED_DEFAULT     490 // default output rate to the motors
@@ -146,7 +150,7 @@ protected:
     // flag bitmask
     struct AP_Motors_flags {
         uint8_t armed               : 1;    // 1 if the motors are armed, 0 if disarmed
-        uint8_t frame_orientation   : 2;    // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3
+        uint8_t frame_orientation   : 4;    // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME
         uint8_t slow_start          : 1;    // 1 if slow start is active
         uint8_t slow_start_low_end  : 1;    // 1 just after arming so we can ramp up the spin_when_armed value
     } _flags;