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92 lines
4.2 KiB
92 lines
4.2 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* AP_MotorsQuad.cpp - ArduCopter motors library |
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* Code by RandyMackay. DIYDrones.com |
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* |
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*/ |
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#include "AP_MotorsQuad.h" |
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// setup_motors - configures the motors for a quad |
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void AP_MotorsQuad::setup_motors() |
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{ |
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// call parent |
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AP_MotorsMatrix::setup_motors(); |
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// hard coded config for supported frames |
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if( _flags.frame_orientation == AP_MOTORS_PLUS_FRAME ) { |
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// plus frame set-up |
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); |
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); |
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add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); |
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add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); |
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}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) { |
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// V frame set-up |
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add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1); |
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add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3); |
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add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4); |
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add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2); |
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}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) { |
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// H frame set-up - same as X but motors spin in opposite directiSons |
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); |
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); |
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); |
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); |
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} else if (_flags.frame_orientation == AP_MOTORS_VTAIL_FRAME) { |
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/* Lynxmotion Hunter Vtail 400/500 |
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Roll control comes only from the front motors, Yaw control only from the rear motors |
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roll factor is measured by the angle perpendicular to that of the prop arm to the roll axis (x) |
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pitch factor is measured by the angle perpendicular to the prop arm to the pitch axis (y) |
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assumptions: |
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20 20 |
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\ / 3_____________1 |
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\ / | |
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\ / | |
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40 \/ 40 20 | 20 |
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Tail / \ |
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2 4 |
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All angles measured from their closest axis |
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Note: if we want the front motors to help with yaw, |
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motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle |
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motors 3's yaw factor should be changed to -sin(radians(40)) |
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*/ |
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// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw |
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add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1); |
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// back left: no roll, 70 degrees down of pitch axis, full yaw |
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add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); |
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// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw |
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add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4); |
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// back right: no roll, 70 degrees down of pitch axis, full yaw |
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add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); |
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}else{ |
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// X frame set-up |
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); |
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); |
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4); |
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); |
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} |
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}
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