diff --git a/libraries/AP_Motors/AP_MotorsOcta.cpp b/libraries/AP_Motors/AP_MotorsOcta.cpp index f50be04680..af2897a588 100644 --- a/libraries/AP_Motors/AP_MotorsOcta.cpp +++ b/libraries/AP_Motors/AP_MotorsOcta.cpp @@ -1,53 +1,53 @@ /* - AP_MotorsOcta.cpp - ArduCopter motors library - Code by RandyMackay. DIYDrones.com - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. -*/ + * AP_MotorsOcta.cpp - ArduCopter motors library + * Code by RandyMackay. DIYDrones.com + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + */ #include "AP_MotorsOcta.h" // setup_motors - configures the motors for a octa void AP_MotorsOcta::setup_motors() { - // call parent - AP_MotorsMatrix::setup_motors(); + // call parent + AP_MotorsMatrix::setup_motors(); - // hard coded config for supported frames - if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { - // plus frame set-up - add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); - add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); - add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); - add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); - add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); - add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); - add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); - add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); + // hard coded config for supported frames + if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { + // plus frame set-up + add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); + add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); + add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); + add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); + add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); + add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); + add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); + add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); - }else if( _frame_orientation == AP_MOTORS_V_FRAME ) { - // V frame set-up - add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7); - add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3); - add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); - add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); - add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); - add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); - add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1); - add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5); + }else if( _frame_orientation == AP_MOTORS_V_FRAME ) { + // V frame set-up + add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7); + add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3); + add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); + add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); + add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); + add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); + add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1); + add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5); - }else { - // X frame set-up - add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); - add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); - add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); - add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); - add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); - add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); - add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); - add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); - } + }else { + // X frame set-up + add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); + add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); + add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); + add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); + add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); + add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); + add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); + add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); + } } \ No newline at end of file