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53 lines
3.0 KiB
53 lines
3.0 KiB
/* |
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* AP_MotorsOcta.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_MotorsOcta.h" |
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// setup_motors - configures the motors for a octa |
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void AP_MotorsOcta::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_CW, AP_MOTORS_MOT_1, 5); |
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add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); |
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); |
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add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); |
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add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); |
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add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); |
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add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 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_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7); |
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add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3); |
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add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); |
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add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); |
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add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); |
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add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); |
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add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1); |
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add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5); |
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}else { |
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// X frame set-up |
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add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); |
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add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); |
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add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); |
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add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); |
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add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); |
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add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); |
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add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); |
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add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); |
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} |
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} |