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AP_Motors: added betaflight-x-reversed frame type

This commit is contained in:
Andrew Tridgell 2020-01-14 17:24:55 +11:00
parent 6aff18d22d
commit 134d8b941b
2 changed files with 9 additions and 1 deletions
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7
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -517,6 +517,13 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3);
add_motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
break;
case MOTOR_FRAME_TYPE_BF_X_REV:
// betaflight quad X order, reversed motors
add_motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
break;
case MOTOR_FRAME_TYPE_DJI_X:
// DJI quad X order
// see https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -61,6 +61,7 @@ public:
MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only
MOTOR_FRAME_TYPE_NYT_PLUS = 16, // plus frame, no differential torque for yaw
MOTOR_FRAME_TYPE_NYT_X = 17, // X frame, no differential torque for yaw
MOTOR_FRAME_TYPE_BF_X_REV = 18, // X frame, betaflight ordering, reversed motors
};
// Constructor
@ -265,4 +266,4 @@ private:
namespace AP {
AP_Motors *motors();
};
};