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AP_Motors: Added DJI_X motor setup for hexacopter and octacopter

This commit is contained in:
Rishabh 2020-01-28 14:08:09 +05:30 committed by Randy Mackay
parent 84e6c59fdd
commit 38533b2f09
1 changed files with 18 additions and 0 deletions
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18
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -634,6 +634,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
break;
case MOTOR_FRAME_TYPE_DJI_X:
add_motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_3, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
break;
default:
// hexa frame class does not support this frame type
success = false;
@ -693,6 +701,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor_raw(AP_MOTORS_MOT_7, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_8, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
break;
case MOTOR_FRAME_TYPE_DJI_X:
add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_3, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_4, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
break;
default:
// octa frame class does not support this frame type
success = false;