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SITL: Support for decacopters

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murata 2020-09-17 00:00:26 +09:00 committed by Andrew Tridgell
parent 159a6c7ed6
commit 13c7980f0b
1 changed files with 30 additions and 0 deletions
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30
libraries/SITL/SIM_Frame.cpp
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@ -205,6 +205,34 @@ static Motor dodeca_hexa_motors[] =
Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
};
static Motor deca_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, -72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10)
};
static Motor deca_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 126, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 162, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -162, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -126, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, -54, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -18, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10)
};
static Motor tri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
@ -273,6 +301,8 @@ static Frame supported_frames[] =
Frame("octa-quad-cwx",8, octa_quad_cw_x_motors),
Frame("octa-quad", 8, octa_quad_motors),
Frame("octa", 8, octa_motors),
Frame("deca", 10, deca_motors),
Frame("deca-cwx", 10, deca_cw_x_motors),
Frame("dodeca-hexa", 12, dodeca_hexa_motors),
Frame("tri", 3, tri_motors),
Frame("tilttrivec",3, tilttri_vectored_motors),