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AP_Scripting: add 6DoF motors matrix bindings and example

This commit is contained in:
Iampete1 2021-01-26 13:03:20 +00:00 committed by Randy Mackay
parent 28e8c5e56e
commit 1395f9ce79
2 changed files with 16 additions and 0 deletions
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10
libraries/AP_Scripting/examples/Motors_6DoF_LynchPin.lua Normal file
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@ -0,0 +1,10 @@
-- This script loads the 6DoF mixer matrix for the LynchPin frame
Motors_6DoF:add_motor(0, 0.012558, 0.391064, 0.069463, 0.867789, 0.507225, -0.015613, true, 1)
Motors_6DoF:add_motor(1, -0.385797, -0.187969, 0.106479, 0.782773, -0.243803, 0.479664, true, 2)
Motors_6DoF:add_motor(2, 0.373240, -0.203095, -0.105312, 0.865451, -0.263422, -0.464051, true, 3)
Motors_6DoF:add_motor(3, -0.153922, -0.166480, -0.345955, 0.003411, 0.908383, -0.456939, true, 4)
Motors_6DoF:add_motor(4, -0.210017, -0.010839, 0.379773, -0.056142, -0.014059, -1.035508, true, 5)
Motors_6DoF:add_motor(5, 0.142076, -0.202427, 0.347056, -0.030879, 0.861758, 0.471667, true, 6)
assert(Motors_6DoF:init(6),'unable to setup 6 motors')

6
libraries/AP_Scripting/generator/description/bindings.desc
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@ -322,3 +322,9 @@ singleton AC_AttitudeControl_Multi_6DoF method set_lateral_enable void boolean
singleton AC_AttitudeControl_Multi_6DoF method set_forward_enable void boolean
singleton AC_AttitudeControl_Multi_6DoF method set_offset_roll_pitch void float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX
include AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_6DoF_Scripting depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_6DoF_Scripting alias Motors_6DoF
singleton AP_MotorsMatrix_6DoF_Scripting method init boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
singleton AP_MotorsMatrix_6DoF_Scripting method add_motor void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)