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AP_Scripting: make dotriaconta_octaquad_x a quad-X

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Peter Barker 2025-01-08 10:47:22 +11:00 committed by Peter Barker
parent b4ec9a73ec
commit 346c746d29
2 changed files with 34 additions and 17 deletions
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34
libraries/AP_Scripting/examples/MotorMatrix_dotriaconta_octaquad_x.lua Normal file
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@ -0,0 +1,34 @@
-- This script is an example setting up a custom motor matrix mix. It
-- sets up a 32-motor frame, 4 clockwise-X coaxial octacopters stacked
-- one on top of the other.
local NUM_BANKS = 8
-- helper function duplication of the one found in AP_MotorsMatrix
local function add_motor(motor_num, angle_degrees, yaw_factor, testing_order)
gcs:send_text(0, string.format(" Adding motor %u (ang=%f)", motor_num, angle_degrees))
MotorsMatrix:add_motor_raw(
motor_num,
math.cos(math.rad(angle_degrees + 90)),
math.cos(math.rad(angle_degrees)),
yaw_factor,
testing_order
)
end
local fr_yaw_factor = 1 -- front-right yaw factor, switches per level
local motor_num = 0
for i = 1, NUM_BANKS do
local base = (i-1)*4
gcs:send_text(0, string.format("Setting up motor bank %u at %u", i, base))
add_motor(motor_num, 45, fr_yaw_factor, base+1)
add_motor(motor_num+1, -135, fr_yaw_factor, base+3)
add_motor(motor_num+2, -45, -fr_yaw_factor, base+4)
add_motor(motor_num+3, 135, -fr_yaw_factor, base+2)
fr_yaw_factor = -fr_yaw_factor
motor_num = motor_num + 4
end
assert(MotorsMatrix:init(NUM_BANKS*4), "Failed to init MotorsMatrix")
motors:set_frame_string(string.format("Motors%u", NUM_BANKS*4))

17
libraries/AP_Scripting/examples/MotorMatrix_dotriaconta_quad_x.lua
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@ -1,17 +0,0 @@
-- This script is an example setting up a custom motor matrix mix
local NUM_BANKS = 8
-- duplicate a quad 8x for 32 motors
for i = 1, NUM_BANKS do
local base = (i-1)*4
gcs:send_text(0, string.format("Setting up motor bank %u at %u", i, base))
MotorsMatrix:add_motor_raw(base+0, -1, 1, 1, base+2)
MotorsMatrix:add_motor_raw(base+1, 1, -1, 1, base+4)
MotorsMatrix:add_motor_raw(base+2, 1, 1, -1, base+1)
MotorsMatrix:add_motor_raw(base+3, -1, -1, -1, base+3)
end
assert(MotorsMatrix:init(NUM_BANKS*4), "Failed to init MotorsMatrix")
motors:set_frame_string(string.format("Motors%u", NUM_BANKS*4))