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SITL: added tilttri frame type

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tiltrotor tricopter
This commit is contained in:
Andrew Tridgell 2016-05-01 09:45:35 +10:00
parent 89a2a92885
commit 125a9feb3d
2 changed files with 10 additions and 0 deletions
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8
libraries/SITL/SIM_Frame.cpp
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@ -91,6 +91,13 @@ static const Motor tri_motors[] =
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, -45, 45, -1, 0, 0),
};
static const Motor tilttri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, -45, 45, -1, 0, 0),
};
static const Motor y6_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
@ -129,6 +136,7 @@ static Frame supported_frames[] =
Frame("octa-quad", 8, octa_quad_motors),
Frame("octa", 8, octa_motors),
Frame("tri", 3, tri_motors),
Frame("tilttri", 3, tilttri_motors),
Frame("y6", 6, y6_motors),
Frame("firefly", 6, firefly_motors)
};

2
libraries/SITL/SIM_QuadPlane.cpp
View File

@ -47,6 +47,8 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
frame_type = "y6";
} else if (strstr(frame_str, "-tri")) {
frame_type = "tri";
} else if (strstr(frame_str, "-tilttri")) {
frame_type = "tilttri";
} else if (strstr(frame_str, "firefly")) {
frame_type = "firefly";
// elevon style surfaces