From 10da6d553c05e88426d3dda315bc3103aa04f6fd Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 12 Jul 2019 13:21:47 +0900 Subject: [PATCH] Copter: improve OctaV roll factors --- libraries/AP_Motors/AP_MotorsMatrix.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp index 50d08cbd01..965c4ce28b 100644 --- a/libraries/AP_Motors/AP_MotorsMatrix.cpp +++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp @@ -629,14 +629,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); break; case MOTOR_FRAME_TYPE_V: - add_motor_raw(AP_MOTORS_MOT_1, 1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); - add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); - add_motor_raw(AP_MOTORS_MOT_3, 1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); - add_motor_raw(AP_MOTORS_MOT_4, -0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); - add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); - add_motor_raw(AP_MOTORS_MOT_6, -1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); - add_motor_raw(AP_MOTORS_MOT_7, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); - add_motor_raw(AP_MOTORS_MOT_8, 0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); + add_motor_raw(AP_MOTORS_MOT_1, 0.83f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); + add_motor_raw(AP_MOTORS_MOT_2, -0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); + add_motor_raw(AP_MOTORS_MOT_3, 0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); + add_motor_raw(AP_MOTORS_MOT_4, -0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); + add_motor_raw(AP_MOTORS_MOT_5, 1.00f, 1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); + add_motor_raw(AP_MOTORS_MOT_6, -0.83f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); + add_motor_raw(AP_MOTORS_MOT_7, -1.00f, 1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); + add_motor_raw(AP_MOTORS_MOT_8, 0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); break; case MOTOR_FRAME_TYPE_H: add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);