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37 lines
1.6 KiB
37 lines
1.6 KiB
/* |
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AP_MotorsHexa.cpp - ArduCopter motors library |
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Code by RandyMackay. DIYDrones.com |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include "AP_MotorsHexa.h" |
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// setup_motors - configures the motors for a hexa |
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void AP_MotorsHexa::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( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { |
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// plus frame set-up |
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add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); |
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add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 4); |
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add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 5); |
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add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); |
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add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); |
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add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 3); |
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}else{ |
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// X frame set-up |
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 2); |
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); |
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add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 6); |
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add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 3); |
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add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 1); |
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add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 4); |
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} |
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} |