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Plane: add new dynamic mixer frame class

This commit is contained in:
Iampete1 2021-06-19 19:12:48 +01:00 committed by Andrew Tridgell
parent cbf93c7dad
commit 015b971ccb
1 changed files with 9 additions and 1 deletions
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10
ArduPlane/quadplane.cpp
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@ -149,7 +149,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri, 10: TailSitter, 12:DodecaHexa, 14:Deca, 15:Scripting Matrix
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri, 10: TailSitter, 12:DodecaHexa, 14:Deca, 15:Scripting Matrix, 17:Dynamic Scripting Matrix
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 46, QuadPlane, frame_class, 1),
@ -726,6 +726,8 @@ bool QuadPlane::setup(void)
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX:
case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
break;
default:
AP_BoardConfig::config_error("Unsupported Q_FRAME_CLASS %u", frame_class);
@ -746,6 +748,12 @@ bool QuadPlane::setup(void)
rotation = ROTATION_PITCH_90;
}
break;
case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
#ifdef ENABLE_SCRIPTING
motors = new AP_MotorsMatrix_Scripting_Dynamic(plane.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info;
#endif // ENABLE_SCRIPTING
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;