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Copter: always allocate a motors backend 

this allows autotest to run, and gives a less confusing error to users
when no FRAME_CLASS error is selected
This commit is contained in:
Andrew Tridgell 2017-01-10 06:44:54 +11:00
parent 7a3c4fd2ee
commit 3fe1a69a32
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/system.cpp
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@ -542,6 +542,7 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_Y6: case AP_Motors::MOTOR_FRAME_Y6:
case AP_Motors::MOTOR_FRAME_OCTA: case AP_Motors::MOTOR_FRAME_OCTA:
case AP_Motors::MOTOR_FRAME_OCTAQUAD: case AP_Motors::MOTOR_FRAME_OCTAQUAD:
default:
motors = new AP_MotorsMatrix(MAIN_LOOP_RATE); motors = new AP_MotorsMatrix(MAIN_LOOP_RATE);
break; break;
case AP_Motors::MOTOR_FRAME_TRI: case AP_Motors::MOTOR_FRAME_TRI:
@ -555,11 +556,10 @@ void Copter::allocate_motors(void)
break; break;
#else // FRAME_CONFIG == HELI_FRAME #else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI: case AP_Motors::MOTOR_FRAME_HELI:
default:
motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE); motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE);
break; break;
#endif #endif
default:
break;
} }
if (motors == nullptr) { if (motors == nullptr) {
AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get()); AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());