From 8e8f2b93a707ddbdefa66ab08c3be5309c0d7c59 Mon Sep 17 00:00:00 2001 From: murata Date: Tue, 9 Mar 2021 00:41:19 +0900 Subject: [PATCH] AP_Motors: Add DECA frame class and type string --- libraries/AP_Motors/AP_MotorsMatrix.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp index 6c41795c0d..413e13ee76 100644 --- a/libraries/AP_Motors/AP_MotorsMatrix.cpp +++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp @@ -990,8 +990,10 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty case MOTOR_FRAME_DECA: _mav_type = MAV_TYPE_DECAROTOR; + _frame_class_string = "DECA"; switch (frame_type) { case MOTOR_FRAME_TYPE_PLUS: + _frame_type_string = "PLUS"; add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); add_motor(AP_MOTORS_MOT_2, 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); add_motor(AP_MOTORS_MOT_3, 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); @@ -1004,6 +1006,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty add_motor(AP_MOTORS_MOT_10, -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10); break; case MOTOR_FRAME_TYPE_X: + _frame_type_string = "X"; add_motor(AP_MOTORS_MOT_1, 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); add_motor(AP_MOTORS_MOT_2, 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); add_motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);