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Copter: add support for H-quad frame 

H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
This commit is contained in:
Randy Mackay 2013-05-03 23:13:40 +09:00
parent 647a93e78e
commit 1cfd5900a8
3 changed files with 9 additions and 1 deletions
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2
ArduCopter/Parameters.pde
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@ -394,7 +394,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: FRAME
// @DisplayName: Frame Orientation (+, X or V)
// @Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
// @Values: 0:Plus, 1:X, 2:V
// @Values: 0:Plus, 1:X, 2:V, 3:H
// @User: Standard
// @Range: 0 32767
GSCALAR(frame_orientation, "FRAME", FRAME_ORIENTATION),

7
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -24,10 +24,17 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
}else if( _frame_orientation == AP_MOTORS_H_FRAME ) {
// H frame set-up - same as X but motors spin in opposite directions
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);

1
libraries/AP_Motors/AP_Motors_Class.h
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@ -35,6 +35,7 @@
#define AP_MOTORS_PLUS_FRAME 0
#define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2
#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490