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SITL: get rid of frame_vectored.h for Sub

This commit is contained in:
Willian Galvani 2019-08-05 13:42:48 -03:00 committed by Jacob Walser
parent ed6d7c434b
commit 3356baed53
2 changed files with 8 additions and 58 deletions
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50
libraries/SITL/Frame_Vectored.h
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@ -1,50 +0,0 @@
#pragma once
using namespace SITL;
#define MOT_1_ROLL_FACTOR 0.0
#define MOT_1_PITCH_FACTOR 0.0
#define MOT_1_YAW_FACTOR 1.0
#define MOT_1_THROTTLE_FACTOR 0.0
#define MOT_1_FORWARD_FACTOR -1
#define MOT_1_STRAFE_FACTOR 1
//Front left
#define MOT_2_ROLL_FACTOR 0.0
#define MOT_2_PITCH_FACTOR 0.0
#define MOT_2_YAW_FACTOR -1.0
#define MOT_2_THROTTLE_FACTOR 0.0
#define MOT_2_FORWARD_FACTOR -1
#define MOT_2_STRAFE_FACTOR -1
//Back right
#define MOT_3_ROLL_FACTOR 0
#define MOT_3_PITCH_FACTOR 0
#define MOT_3_YAW_FACTOR -1.0
#define MOT_3_THROTTLE_FACTOR 0.0
#define MOT_3_FORWARD_FACTOR 1
#define MOT_3_STRAFE_FACTOR 1
//Back left
#define MOT_4_ROLL_FACTOR 0
#define MOT_4_PITCH_FACTOR 0
#define MOT_4_YAW_FACTOR 1.0
#define MOT_4_THROTTLE_FACTOR 0.0
#define MOT_4_FORWARD_FACTOR 1
#define MOT_4_STRAFE_FACTOR -1
//Right facing up
#define MOT_5_ROLL_FACTOR 1.0
#define MOT_5_PITCH_FACTOR 0.0
#define MOT_5_YAW_FACTOR 0.0
#define MOT_5_THROTTLE_FACTOR -1
#define MOT_5_FORWARD_FACTOR 0.0
#define MOT_5_STRAFE_FACTOR 0.0
//Left facing up
#define MOT_6_ROLL_FACTOR -1.0
#define MOT_6_PITCH_FACTOR 0.0
#define MOT_6_YAW_FACTOR 0.0
#define MOT_6_THROTTLE_FACTOR -1
#define MOT_6_FORWARD_FACTOR 0.0
#define MOT_6_STRAFE_FACTOR 0.0

16
libraries/SITL/SIM_Submarine.cpp
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@ -18,20 +18,20 @@
#include "SIM_Submarine.h"
#include <AP_Motors/AP_Motors.h>
#include "Frame_Vectored.h"
#include <stdio.h>
using namespace SITL;
static Thruster vectored_thrusters[] =
{
Thruster(0, MOT_1_ROLL_FACTOR, MOT_1_PITCH_FACTOR, MOT_1_YAW_FACTOR, MOT_1_THROTTLE_FACTOR, MOT_1_FORWARD_FACTOR, MOT_1_STRAFE_FACTOR),
Thruster(1, MOT_2_ROLL_FACTOR, MOT_2_PITCH_FACTOR, MOT_2_YAW_FACTOR, MOT_2_THROTTLE_FACTOR, MOT_2_FORWARD_FACTOR, MOT_2_STRAFE_FACTOR),
Thruster(2, MOT_3_ROLL_FACTOR, MOT_3_PITCH_FACTOR, MOT_3_YAW_FACTOR, MOT_3_THROTTLE_FACTOR, MOT_3_FORWARD_FACTOR, MOT_3_STRAFE_FACTOR),
Thruster(3, MOT_4_ROLL_FACTOR, MOT_4_PITCH_FACTOR, MOT_4_YAW_FACTOR, MOT_4_THROTTLE_FACTOR, MOT_4_FORWARD_FACTOR, MOT_4_STRAFE_FACTOR),
Thruster(4, MOT_5_ROLL_FACTOR, MOT_5_PITCH_FACTOR, MOT_5_YAW_FACTOR, MOT_5_THROTTLE_FACTOR, MOT_5_FORWARD_FACTOR, MOT_5_STRAFE_FACTOR),
Thruster(5, MOT_6_ROLL_FACTOR, MOT_6_PITCH_FACTOR, MOT_6_YAW_FACTOR, MOT_6_THROTTLE_FACTOR, MOT_6_FORWARD_FACTOR, MOT_6_STRAFE_FACTOR)
{ // Motor # Roll Factor Pitch Factor Yaw Factor Throttle Factor Forward Factor Lateral Factor
Thruster(0, 0, 0, 1.0f, 0, -1.0f, 1.0f),
Thruster(1, 0, 0, -1.0f, 0, -1.0f, -1.0f),
Thruster(2, 0, 0, -1.0f, 0, 1.0f, 1.0f),
Thruster(3, 0, 0, 1.0f, 0, 1.0f, -1.0f),
Thruster(4, 1.0f, 0, 0, -1.0f, 0, 0),
Thruster(5, -1.0f, 0, 0, -1.0f, 0, 0)
};
};