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SITL: add dotriaconta_octaquad_x frame

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This commit is contained in:
Peter Barker 2025-01-08 10:47:38 +11:00 committed by Peter Barker
parent 346c746d29
commit 5b5dc8a128
2 changed files with 60 additions and 0 deletions
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51
libraries/SITL/SIM_Frame.cpp
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@ -22,6 +22,8 @@
#include <AP_Filesystem/AP_Filesystem.h>
#include "SIM_Aircraft.h"
#include "SIM_config.h"
#include <stdio.h>
#include <sys/stat.h>
@ -81,6 +83,52 @@ static Motor quad_cw_x_motors[] =
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
#if AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED
static Motor dotriaconta_octaquad_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_CCW, 17),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 25),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 9),
Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 18),
Motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 26),
Motor(AP_MOTORS_MOT_8, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 10),
Motor(AP_MOTORS_MOT_9, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_10, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 19),
Motor(AP_MOTORS_MOT_11, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 27),
Motor(AP_MOTORS_MOT_12, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11),
Motor(AP_MOTORS_MOT_13, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_14, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 20),
Motor(AP_MOTORS_MOT_15, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 28),
Motor(AP_MOTORS_MOT_16, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12),
Motor(AP_MOTORS_MOT_17, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_18, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 21),
Motor(AP_MOTORS_MOT_19, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 29),
Motor(AP_MOTORS_MOT_20, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 13),
Motor(AP_MOTORS_MOT_21, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_22, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 22),
Motor(AP_MOTORS_MOT_23, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 30),
Motor(AP_MOTORS_MOT_24, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 14),
Motor(AP_MOTORS_MOT_25, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_26, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 23),
Motor(AP_MOTORS_MOT_27, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 31),
Motor(AP_MOTORS_MOT_28, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 15),
Motor(AP_MOTORS_MOT_29, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_30, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 24),
Motor(AP_MOTORS_MOT_31, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 32),
Motor(AP_MOTORS_MOT_32, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 16),
};
#endif // AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED
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),
@ -337,6 +385,9 @@ static Frame supported_frames[] =
Frame("x", 4, quad_x_motors),
Frame("bfxrev", 4, quad_bf_x_rev_motors),
Frame("bfx", 4, quad_bf_x_motors),
#if AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED
Frame("dotriaconta", 32, dotriaconta_octaquad_x_motors),
#endif // AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),

9
libraries/SITL/SIM_config.h
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@ -195,3 +195,12 @@
#ifndef AP_SIM_VOLZ_ENABLED
#define AP_SIM_VOLZ_ENABLED AP_SIM_ENABLED
#endif // AP_SIM_VOLZ_ENABLED
#ifndef AP_SIM_FRAME_DEFAULT_ENABLED
#define AP_SIM_FRAME_DEFAULT_ENABLED 1
#endif
// 32-motors, a stack of 8 quadcopters:
#ifndef AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED
#define AP_SIM_FRAME_COPTER_DOTRIACONTA_OCTAQUAD_X_ENABLED AP_SIM_FRAME_DEFAULT_ENABLED
#endif