ardupilot/libraries/AP_Motors/AP_MotorsHexa.cpp

// -*- 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_MotorsHexa.cpp - ArduCopter motors library
 *       Code by RandyMackay. DIYDrones.com
 *
 */

#include "AP_MotorsHexa.h"

// setup_motors - configures the motors for a hexa
void AP_MotorsHexa::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_CW,  1);
        add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
        add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
        add_motor(AP_MOTORS_MOT_4,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
        add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
        add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
    }else{
        // X frame set-up
        add_motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
        add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
        add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);
        add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
        add_motor(AP_MOTORS_MOT_5,  30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
        add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
    }

    // normalise factors to magnitude 0.5
    normalise_rpy_factors();
}