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AP_Motors: MatrixTS: defualt to normal Matrix setup

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This commit is contained in:
Peter Hall 2020-01-03 00:13:56 +00:00 committed by Andrew Tridgell
parent 4aa0dfa2aa
commit 615695c1bc
2 changed files with 11 additions and 25 deletions
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34
libraries/AP_Motors/AP_MotorsMatrixTS.cpp
View File

@ -40,7 +40,7 @@ void AP_MotorsMatrixTS::output_to_motors()
// includes new scaling stability patch
void AP_MotorsMatrixTS::output_armed_stabilizing()
{
if (enable_yaw_torque) {
if (use_standard_matrix) {
AP_MotorsMatrix::output_armed_stabilizing();
return;
}
@ -105,7 +105,7 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
}
bool success = false;
enable_yaw_torque = true;
use_standard_matrix = true;
switch (frame_class) {
@ -118,15 +118,6 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
break;
case MOTOR_FRAME_QUAD:
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
// differential torque for yaw: rotation directions specified below
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
success = true;
break;
case MOTOR_FRAME_TYPE_NYT_PLUS:
// motors 1,2 on wings, motors 3,4 on vertical tail/subfin
// motors 1,2 are counter-rotating, as are motors 3,4
@ -137,19 +128,10 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
add_motor(AP_MOTORS_MOT_3, 0, 0, 1);
add_motor(AP_MOTORS_MOT_4, 180, 0, 3);
enable_yaw_torque = false;
use_standard_matrix = false;
success = true;
break;
case MOTOR_FRAME_TYPE_X:
// PLUS_TS layout rotated 45 degrees about X axis
// differential torque for yaw: rotation directions specified below
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
success = true;
break;
case MOTOR_FRAME_TYPE_NYT_X:
// PLUS_TS layout rotated 45 degrees about X axis
// no differential torque for yaw: wing and fin motors counter-rotating
@ -158,17 +140,21 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
add_motor(AP_MOTORS_MOT_3, -45, 0, 4);
add_motor(AP_MOTORS_MOT_4, 135, 0, 2);
enable_yaw_torque = false;
use_standard_matrix = false;
success = true;
break;
default:
// matrixTS doesn't support the configured frame_type
break;
// try to use normal Matrix
AP_MotorsMatrix::setup_motors(frame_class, frame_type);
return;
}
break;
default:
// matrixTS doesn't support the configured frame_class
break;
// try to use normal Matrix
AP_MotorsMatrix::setup_motors(frame_class, frame_type);
return;
} // switch frame_class
// normalise factors to magnitude 0.5

2
libraries/AP_Motors/AP_MotorsMatrixTS.h
View File

@ -20,7 +20,7 @@ public:
virtual void output_to_motors() override;
protected:
bool enable_yaw_torque; // differential torque for yaw control
bool use_standard_matrix; // True to use normal matrix mixers with yaw torque
// configures the motors for the defined frame_class and frame_type
virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;