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Copter: add trapezoid frame type

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We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
This commit is contained in:
Randy Mackay 2013-03-31 12:41:02 +09:00
parent dfb14d760b
commit 39ba406957
2 changed files with 10 additions and 3 deletions
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6
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -23,6 +23,12 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1); add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3); add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_TRAPEZOID_FRAME ) {
// To-Do correct motor mixing properly for trapezoidal frame
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 2);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1); add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);

7
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -32,9 +32,10 @@
#define AP_MOTORS_APM2 2 #define AP_MOTORS_APM2 2
// frame definitions // frame definitions
#define AP_MOTORS_PLUS_FRAME 0 #define AP_MOTORS_PLUS_FRAME 0
#define AP_MOTORS_X_FRAME 1 #define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2 #define AP_MOTORS_V_FRAME 2
#define AP_MOTORS_TRAPEZOID_FRAME 3
// motor update rate // motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 #define AP_MOTORS_SPEED_DEFAULT 490