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AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch)

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This commit is contained in:
rmackay9 2012-12-17 15:28:42 +09:00 committed by Andrew Tridgell
parent 34e18ae12a
commit 3aca61cefb
7 changed files with 70 additions and 96 deletions
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24
libraries/AP_Motors/AP_MotorsHexa.cpp
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@ -19,19 +19,19 @@ void AP_MotorsHexa::setup_motors()
// hard coded config for supported frames // hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up // plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 4); add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 5); add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 3); add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 2); add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 6); add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 3); add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 1); add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, 4);
} }
} }

29
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -15,20 +15,12 @@ extern const AP_HAL::HAL& hal;
// Init // Init
void AP_MotorsMatrix::Init() void AP_MotorsMatrix::Init()
{ {
int8_t i;
// call parent Init function to set-up throttle curve // call parent Init function to set-up throttle curve
AP_Motors::Init(); AP_Motors::Init();
// setup the motors // setup the motors
setup_motors(); setup_motors();
// double check that opposite motor definitions are ok
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( opposite_motor[i] <= 0 || opposite_motor[i] >= AP_MOTORS_MAX_NUM_MOTORS || !motor_enabled[opposite_motor[i]] )
opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
}
// enable fast channels or instant pwm // enable fast channels or instant pwm
set_update_rate(_speed_hz); set_update_rate(_speed_hz);
} }
@ -328,7 +320,7 @@ void AP_MotorsMatrix::output_test()
} }
// add_motor // add_motor
void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num, int8_t testing_order) void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order)
{ {
// ensure valid motor number is provided // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
@ -344,13 +336,6 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
_pitch_factor[motor_num] = pitch_fac; _pitch_factor[motor_num] = pitch_fac;
_yaw_factor[motor_num] = yaw_fac; _yaw_factor[motor_num] = yaw_fac;
// set opposite motor after checking it's somewhat valid
if( opposite_motor_num == AP_MOTORS_MATRIX_MOTOR_UNDEFINED || (opposite_motor_num >=0 && opposite_motor_num < AP_MOTORS_MAX_NUM_MOTORS) ) {
opposite_motor[motor_num] = opposite_motor_num;
}else{
opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
}
// set order that motor appears in test // set order that motor appears in test
if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) { if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) {
test_order[motor_num] = motor_num; test_order[motor_num] = motor_num;
@ -361,7 +346,7 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
} }
// add_motor using just position and prop direction // add_motor using just position and prop direction
void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num, int8_t testing_order) void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t testing_order)
{ {
// call raw motor set-up method // call raw motor set-up method
add_motor_raw( add_motor_raw(
@ -369,7 +354,6 @@ void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t di
cos(radians(angle_degrees + 90)), // roll factor cos(radians(angle_degrees + 90)), // roll factor
cos(radians(angle_degrees)), // pitch factor cos(radians(angle_degrees)), // pitch factor
(float)direction, // yaw factor (float)direction, // yaw factor
opposite_motor_num,
testing_order); testing_order);
} }
@ -377,8 +361,6 @@ void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t di
// remove_motor - disabled motor and clears all roll, pitch, throttle factors for this motor // remove_motor - disabled motor and clears all roll, pitch, throttle factors for this motor
void AP_MotorsMatrix::remove_motor(int8_t motor_num) void AP_MotorsMatrix::remove_motor(int8_t motor_num)
{ {
int8_t i;
// ensure valid motor number is provided // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
@ -391,13 +373,6 @@ void AP_MotorsMatrix::remove_motor(int8_t motor_num)
_roll_factor[motor_num] = 0; _roll_factor[motor_num] = 0;
_pitch_factor[motor_num] = 0; _pitch_factor[motor_num] = 0;
_yaw_factor[motor_num] = 0; _yaw_factor[motor_num] = 0;
opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
}
// if another motor has referred to this motor as it's opposite, remove that reference
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( opposite_motor[i] == motor_num )
opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
} }
} }

5
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -54,7 +54,7 @@ public:
virtual void output_min(); virtual void output_min();
// add_motor using just position and prop direction // add_motor using just position and prop direction
virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// remove_motor // remove_motor
virtual void remove_motor(int8_t motor_num); virtual void remove_motor(int8_t motor_num);
@ -68,7 +68,6 @@ public:
}; };
// matrix // matrix
AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
protected: protected:
@ -77,7 +76,7 @@ protected:
virtual void output_disarmed(); virtual void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors // add_motor using raw roll, pitch, throttle and yaw factors
virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll

48
libraries/AP_Motors/AP_MotorsOcta.cpp
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@ -19,35 +19,35 @@ void AP_MotorsOcta::setup_motors()
// hard coded config for supported frames // hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up // plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) { }else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up // V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7); add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3); add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6); add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2); add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1); add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5); add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, 5);
}else { }else {
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1); add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2); add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8); add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6); add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7); add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3); add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, 3);
} }
} }

32
libraries/AP_Motors/AP_MotorsOctaQuad.cpp
View File

@ -19,23 +19,23 @@ void AP_MotorsOctaQuad::setup_motors()
// hard coded config for supported frames // hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up // plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1); add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4); add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8); add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2); add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, 6);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1); add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7); add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5); add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8); add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2); add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4); add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6); add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, 6);
} }
} }

16
libraries/AP_Motors/AP_MotorsQuad.cpp
View File

@ -19,15 +19,15 @@ void AP_MotorsQuad::setup_motors()
// hard coded config for supported frames // hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) { if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up // plus frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 2); add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 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, AP_MOTORS_MOT_4, 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, AP_MOTORS_MOT_3, 3); add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 1); 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, AP_MOTORS_MOT_1, 3); 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, AP_MOTORS_MOT_4, 4); 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, AP_MOTORS_MOT_3, 2); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 2);
} }
} }

12
libraries/AP_Motors/AP_MotorsY6.cpp
View File

@ -17,10 +17,10 @@ void AP_MotorsY6::setup_motors()
AP_MotorsMatrix::setup_motors(); AP_MotorsMatrix::setup_motors();
// MultiWii set-up // MultiWii set-up
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 2); add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 5); add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 6); add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 4); add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 1); add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MATRIX_MOTOR_UNDEFINED, 3); add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
} }