ardupilot/libraries/AP_Motors/AP_MotorsY6.cpp

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2013-05-29 20:51:34 -03:00
// -*- 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_MotorsY6.cpp - ArduCopter motors library
* Code by RandyMackay. DIYDrones.com
*
*/
#include "AP_MotorsY6.h"
// setup_motors - configures the motors for a hexa
void AP_MotorsY6::setup_motors()
{
// call parent
AP_MotorsMatrix::setup_motors();
if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) {
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
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add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}else{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}
}