mirror of https://github.com/ArduPilot/ardupilot
AP_Motors: Added DJI_X motor setup for hexacopter and octacopter
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@ -634,6 +634,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
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add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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break;
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break;
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case MOTOR_FRAME_TYPE_DJI_X:
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add_motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor(AP_MOTORS_MOT_2, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
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add_motor(AP_MOTORS_MOT_3, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
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add_motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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break;
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default:
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default:
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// hexa frame class does not support this frame type
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// hexa frame class does not support this frame type
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success = false;
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success = false;
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@ -693,6 +701,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
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add_motor_raw(AP_MOTORS_MOT_7, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
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add_motor_raw(AP_MOTORS_MOT_7, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
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add_motor_raw(AP_MOTORS_MOT_8, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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add_motor_raw(AP_MOTORS_MOT_8, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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break;
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break;
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case MOTOR_FRAME_TYPE_DJI_X:
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add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor(AP_MOTORS_MOT_2, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
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add_motor(AP_MOTORS_MOT_3, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
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add_motor(AP_MOTORS_MOT_4, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
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add_motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
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add_motor(AP_MOTORS_MOT_6, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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break;
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default:
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default:
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// octa frame class does not support this frame type
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// octa frame class does not support this frame type
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success = false;
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success = false;
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