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uncrustify libraries/AP_Motors/AP_MotorsQuad.cpp

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uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent df5d1a8aef
commit 41c1205f26
1 changed files with 24 additions and 24 deletions
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48
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -1,33 +1,33 @@
/* /*
AP_MotorsQuad.cpp - ArduCopter motors library * AP_MotorsQuad.cpp - ArduCopter motors library
Code by RandyMackay. DIYDrones.com * Code by RandyMackay. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*/ */
#include "AP_MotorsQuad.h" #include "AP_MotorsQuad.h"
// setup_motors - configures the motors for a quad // setup_motors - configures the motors for a quad
void AP_MotorsQuad::setup_motors() void AP_MotorsQuad::setup_motors()
{ {
// call parent // call parent
AP_MotorsMatrix::setup_motors(); AP_MotorsMatrix::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, AP_MOTORS_MOT_2, 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, AP_MOTORS_MOT_1, 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, AP_MOTORS_MOT_4, 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, AP_MOTORS_MOT_3, 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, AP_MOTORS_MOT_2, 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, AP_MOTORS_MOT_1, 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, AP_MOTORS_MOT_4, 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, AP_MOTORS_MOT_3, 2);
} }
} }