From c5c2b18a0b3f38812143fddd8fc5cc466d031a38 Mon Sep 17 00:00:00 2001 From: Peter Hall Date: Sun, 20 Jun 2021 18:01:47 +0100 Subject: [PATCH] AP_Scripting: update 6DoF mixer example --- libraries/AP_Scripting/examples/Motors_6DoF.lua | 11 +++++++++++ .../AP_Scripting/examples/Motors_6DoF_LynchPin.lua | 10 ---------- 2 files changed, 11 insertions(+), 10 deletions(-) create mode 100644 libraries/AP_Scripting/examples/Motors_6DoF.lua delete mode 100644 libraries/AP_Scripting/examples/Motors_6DoF_LynchPin.lua diff --git a/libraries/AP_Scripting/examples/Motors_6DoF.lua b/libraries/AP_Scripting/examples/Motors_6DoF.lua new file mode 100644 index 0000000000..bb06c78631 --- /dev/null +++ b/libraries/AP_Scripting/examples/Motors_6DoF.lua @@ -0,0 +1,11 @@ +-- This script loads the 6DoF mixer matrix for a 6 motor frame +-- https://youtu.be/QUDhnYvH66k + +Motors_6DoF:add_motor(0, 0.003285, 0.470445, 0.031489, 0.885866, 0.563927, 0.031026, true, 1) +Motors_6DoF:add_motor(1, -0.373686, -0.267196, 0.092861, 0.789066, -0.223271, 0.495176, true, 2) +Motors_6DoF:add_motor(2, 0.370400, -0.203249, -0.053720, 0.841080, -0.340656, -0.526202, true, 3) +Motors_6DoF:add_motor(3, -0.146980, -0.216342, -0.338296, 0.001577, 0.900822, -0.460986, true, 4) +Motors_6DoF:add_motor(4, -0.205533, -0.035715, 0.359267, -0.048371, 0.010753, -1.013924, true, 5) +Motors_6DoF:add_motor(5, 0.143881, -0.227449, 0.375220, -0.046098, 0.811593, 0.431718, true, 6) + +assert(Motors_6DoF:init(6),'unable to setup 6 motors') diff --git a/libraries/AP_Scripting/examples/Motors_6DoF_LynchPin.lua b/libraries/AP_Scripting/examples/Motors_6DoF_LynchPin.lua deleted file mode 100644 index c3a45dfe75..0000000000 --- a/libraries/AP_Scripting/examples/Motors_6DoF_LynchPin.lua +++ /dev/null @@ -1,10 +0,0 @@ --- This script loads the 6DoF mixer matrix for the LynchPin frame - -Motors_6DoF:add_motor(0, 0.012558, 0.391064, 0.069463, 0.867789, 0.507225, -0.015613, true, 1) -Motors_6DoF:add_motor(1, -0.385797, -0.187969, 0.106479, 0.782773, -0.243803, 0.479664, true, 2) -Motors_6DoF:add_motor(2, 0.373240, -0.203095, -0.105312, 0.865451, -0.263422, -0.464051, true, 3) -Motors_6DoF:add_motor(3, -0.153922, -0.166480, -0.345955, 0.003411, 0.908383, -0.456939, true, 4) -Motors_6DoF:add_motor(4, -0.210017, -0.010839, 0.379773, -0.056142, -0.014059, -1.035508, true, 5) -Motors_6DoF:add_motor(5, 0.142076, -0.202427, 0.347056, -0.030879, 0.861758, 0.471667, true, 6) - -assert(Motors_6DoF:init(6),'unable to setup 6 motors')