SITL: add dodeca-hexa support

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -90,6 +90,7 @@ static const struct {
     { "x",                  MultiCopter::create },
     { "hexa",               MultiCopter::create },
     { "octa",               MultiCopter::create },
+    { "dodeca-hexa",        MultiCopter::create },
     { "tri",                MultiCopter::create },
     { "y6",                 MultiCopter::create },
     { "heli",               Helicopter::create },

libraries/SITL/SIM_Frame.cpp

@@ -83,6 +83,22 @@ static Motor octa_quad_motors[] =
     Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6)
 };
 
+static Motor dodeca_hexa_motors[] =
+{
+    Motor(AP_MOTORS_MOT_1,   30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1),
+    Motor(AP_MOTORS_MOT_2,   30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2),
+    Motor(AP_MOTORS_MOT_3,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   3),
+    Motor(AP_MOTORS_MOT_4,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  4),
+    Motor(AP_MOTORS_MOT_5,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  5),
+    Motor(AP_MOTORS_MOT_6,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   6),
+    Motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   7),
+    Motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  8),
+    Motor(AP_MOTORS_MOT_9,  -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  9),
+    Motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   10),
+    Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   11),
+    Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  12)
+};
+
 static Motor tri_motors[] =
 {
     Motor(AP_MOTORS_MOT_1,   60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
@@ -141,6 +157,7 @@ static Frame supported_frames[] =
     Frame("hexa",      6, hexa_motors),
     Frame("octa-quad", 8, octa_quad_motors),
     Frame("octa",      8, octa_motors),
+    Frame("dodeca-hexa", 12, dodeca_hexa_motors),
     Frame("tri",       3, tri_motors),
     Frame("tilttrivec",3, tilttri_vectored_motors),
     Frame("tilttri",   3, tilttri_motors),