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.
76 lines
3.7 KiB
76 lines
3.7 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
/* |
|
* AP_MotorsOctaQuad.cpp - ArduCopter motors library |
|
* Code by RandyMackay. DIYDrones.com |
|
* |
|
*/ |
|
|
|
#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( _flags.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 if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) { |
|
// V frame set-up |
|
add_motor(AP_MOTORS_MOT_1, 45, 0.7981f, 1); |
|
add_motor(AP_MOTORS_MOT_2, -45, -0.7981f, 7); |
|
add_motor(AP_MOTORS_MOT_3, -135, 1.0000f, 5); |
|
add_motor(AP_MOTORS_MOT_4, 135, -1.0000f, 3); |
|
add_motor(AP_MOTORS_MOT_5, -45, 0.7981f, 8); |
|
add_motor(AP_MOTORS_MOT_6, 45, -0.7981f, 2); |
|
add_motor(AP_MOTORS_MOT_7, 135, 1.0000f, 4); |
|
add_motor(AP_MOTORS_MOT_8, -135, -1.0000f, 6); |
|
}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) { |
|
// H frame set-up - same as X but motors spin in opposite directions |
|
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); |
|
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7); |
|
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); |
|
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); |
|
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8); |
|
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); |
|
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4); |
|
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 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); |
|
} |
|
|
|
// normalise factors to magnitude 0.5 |
|
normalise_rpy_factors(); |
|
}
|
|
|