From 40babb11729cea72eb68a749fce2b0e563cb4769 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Feb 2019 14:29:52 +1100
Subject: [PATCH] SITL: support 3 more X quad motor orders

 - betaflight X
 - DJI X
 - clockwise X
---
 libraries/SITL/SIM_Frame.cpp | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index bf38da1302..d2da87ed67 100644
--- a/libraries/SITL/SIM_Frame.cpp
+++ b/libraries/SITL/SIM_Frame.cpp
@@ -39,6 +39,35 @@ static Motor quad_x_motors[] =
     Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
 };
 
+// motor order to match betaflight conventions
+// See: https://fpvfrenzy.com/betaflight-motor-order/
+static Motor quad_bf_x_motors[] =
+{
+    Motor(AP_MOTORS_MOT_1,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
+    Motor(AP_MOTORS_MOT_2,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1),
+    Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3),
+    Motor(AP_MOTORS_MOT_4,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
+};
+
+// motor order to match DJI conventions
+// See: https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
+static Motor quad_dji_x_motors[] =
+{
+    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
+    Motor(AP_MOTORS_MOT_2,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4),
+    Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
+    Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
+};
+
+// motor order so that test order matches motor order ("clockwise X")
+static Motor quad_cw_x_motors[] =
+{
+    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
+    Motor(AP_MOTORS_MOT_2,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
+    Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
+    Motor(AP_MOTORS_MOT_4,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4),
+};
+
 static Motor tiltquad_h_vectored_motors[] =
 {
     Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1, -1, 0, 0, 7, 10, -90),
@@ -161,6 +190,9 @@ static Frame supported_frames[] =
     Frame("quad",      4, quad_plus_motors),
     Frame("copter",    4, quad_plus_motors),
     Frame("x",         4, quad_x_motors),
+    Frame("bfx",       4, quad_bf_x_motors),
+    Frame("djix",      4, quad_dji_x_motors),
+    Frame("cwx",       4, quad_cw_x_motors),
     Frame("tilthvec",  4, tiltquad_h_vectored_motors),
     Frame("hexax",     6, hexax_motors),
     Frame("hexa",      6, hexa_motors),