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Copter: add V frame support for Quads

This commit is contained in:
Randy Mackay 2013-04-04 11:50:05 +09:00
parent 0015747af9
commit 4fe904ea78
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -23,6 +23,12 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4); add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1); add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3); add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.8877, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.1123, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.8877, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.1123, 2);
}else{ }else{
// X frame set-up // X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1); add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);