Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: fixup octaquad CW_X motor directions

Browse Source
This commit is contained in:
Randy Mackay 2021-02-22 08:31:48 +09:00
parent fa1bed9735
commit 0c9559db6d
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -895,12 +895,12 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
_frame_type_string = "CW_X"; _frame_type_string = "CW_X";
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); 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, 2); add_motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); add_motor(AP_MOTORS_MOT_3, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); add_motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7); add_motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8); add_motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
break; break;
default: default:
// octaquad frame class does not support this frame type // octaquad frame class does not support this frame type