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31 lines
973 B
31 lines
973 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_MotorsY6.h |
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/// @brief Motor control class for Y6 frames |
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#ifndef __AP_MOTORS_Y6_H__ |
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#define __AP_MOTORS_Y6_H__ |
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#include <AP_Common.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <RC_Channel.h> // RC Channel Library |
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#include <AP_MotorsMatrix.h> // Parent Motors Matrix library |
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#define AP_MOTORS_Y6_YAW_DIRECTION 1 // this really should be a user selectable parameter |
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/// @class AP_MotorsY6 |
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class AP_MotorsY6 : public AP_MotorsMatrix { |
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public: |
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/// Constructor |
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AP_MotorsY6( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) { |
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}; |
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// setup_motors - configures the motors for a quad |
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virtual void setup_motors(); |
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protected: |
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}; |
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#endif // AP_MOTORSY6
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