mirror of https://github.com/ArduPilot/ardupilot
Copter: Add support for V-Tail Quads
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@ -50,6 +50,38 @@ void AP_MotorsQuad::setup_motors()
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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} else if (_flags.frame_orientation == AP_MOTORS_VTAIL_FRAME) {
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/* Lynxmotion Hunter Vtail 400/500
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Roll control comes only from the front motors, Yaw control only from the rear motors
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roll factor is measured by the angle perpendicular to that of the prop arm to the roll axis (x)
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pitch factor is measured by the angle perpendicular to the prop arm to the pitch axis (y)
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assumptions:
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20 20
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\ / 3_____________1
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\ / |
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\ / |
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40 \/ 40 20 | 20
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Tail / \
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2 4
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All angles measured from their closest axis
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Note: if we want the front motors to help with yaw,
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motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle
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motors 3's yaw factor should be changed to -sin(radians(40))
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*/
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// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw
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add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1);
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// back left: no roll, 70 degrees down of pitch axis, full yaw
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add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw
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add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4);
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// back right: no roll, 70 degrees down of pitch axis, full yaw
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add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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}else{
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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@ -38,6 +38,7 @@
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#define AP_MOTORS_X_FRAME 1
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#define AP_MOTORS_V_FRAME 2
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#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
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#define AP_MOTORS_VTAIL_FRAME 4 // Lynxmotion Hunter VTail 400/500
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#define AP_MOTORS_NEW_PLUS_FRAME 10 // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front
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#define AP_MOTORS_NEW_X_FRAME 11
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#define AP_MOTORS_NEW_V_FRAME 12
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