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Copter: Add support for V-Tail Quads

This commit is contained in:
L. Preston Sego III 2014-04-01 22:51:41 -04:00 committed by Randy Mackay
parent 729026d80c
commit 3ecdc4b741
2 changed files with 33 additions and 0 deletions
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32
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -50,6 +50,38 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
} else if (_flags.frame_orientation == AP_MOTORS_VTAIL_FRAME) {
/* Lynxmotion Hunter Vtail 400/500
Roll control comes only from the front motors, Yaw control only from the rear motors
roll factor is measured by the angle perpendicular to that of the prop arm to the roll axis (x)
pitch factor is measured by the angle perpendicular to the prop arm to the pitch axis (y)
assumptions:
20 20
\ / 3_____________1
\ / |
\ / |
40 \/ 40 20 | 20
Tail / \
2 4
All angles measured from their closest axis
Note: if we want the front motors to help with yaw,
motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle
motors 3's yaw factor should be changed to -sin(radians(40))
*/
// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1);
// back left: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4);
// back right: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);

1
libraries/AP_Motors/AP_Motors_Class.h
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@ -38,6 +38,7 @@
#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_H_FRAME 3 // same as X frame but motors spin in opposite direction #define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
#define AP_MOTORS_VTAIL_FRAME 4 // Lynxmotion Hunter VTail 400/500
#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 #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
#define AP_MOTORS_NEW_X_FRAME 11 #define AP_MOTORS_NEW_X_FRAME 11
#define AP_MOTORS_NEW_V_FRAME 12 #define AP_MOTORS_NEW_V_FRAME 12