You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
41 lines
1.9 KiB
41 lines
1.9 KiB
/* |
|
* AP_MotorsOctaQuad.cpp - ArduCopter motors library |
|
* Code by RandyMackay. DIYDrones.com |
|
* |
|
* This library is free software; you can redistribute it and/or |
|
* modify it under the terms of the GNU Lesser General Public |
|
* License as published by the Free Software Foundation; either |
|
* version 2.1 of the License, or (at your option) any later version. |
|
*/ |
|
|
|
#include "AP_MotorsOctaQuad.h" |
|
|
|
// setup_motors - configures the motors for a octa |
|
void AP_MotorsOctaQuad::setup_motors() |
|
{ |
|
// call parent |
|
AP_MotorsMatrix::setup_motors(); |
|
|
|
// hard coded config for supported frames |
|
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { |
|
// plus frame set-up |
|
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); |
|
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); |
|
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); |
|
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); |
|
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); |
|
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); |
|
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); |
|
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); |
|
}else{ |
|
// X frame set-up |
|
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); |
|
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); |
|
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); |
|
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); |
|
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); |
|
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); |
|
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); |
|
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); |
|
} |
|
}
|
|
|