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49 lines
2.1 KiB
49 lines
2.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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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* 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_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( _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( _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( _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{ |
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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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