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AP_Motors: add dodeca-hexa

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This commit is contained in:
murata 2017-05-14 10:15:49 +09:00 committed by Randy Mackay
parent d00725b2ed
commit 66fc49889b
2 changed files with 44 additions and 1 deletions
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38
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -583,6 +583,44 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
} }
break; break;
case MOTOR_FRAME_DODECAHEXA: {
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); // forward-top
add_motor(AP_MOTORS_MOT_2, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); // forward-bottom
add_motor(AP_MOTORS_MOT_3, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); // forward-right-top
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); // forward-right-bottom
add_motor(AP_MOTORS_MOT_5, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); // back-right-top
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); // back-right-bottom
add_motor(AP_MOTORS_MOT_7, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); // back-top
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); // back-bottom
add_motor(AP_MOTORS_MOT_9, -120, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9); // back-left-top
add_motor(AP_MOTORS_MOT_10, -120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10); // back-left-bottom
add_motor(AP_MOTORS_MOT_11, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11); // forward-left-top
add_motor(AP_MOTORS_MOT_12, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12); // forward-left-bottom
success = true;
break;
case MOTOR_FRAME_TYPE_X:
add_motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1); // forward-right-top
add_motor(AP_MOTORS_MOT_2, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); // forward-right-bottom
add_motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); // right-top
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); // right-bottom
add_motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5); // back-right-top
add_motor(AP_MOTORS_MOT_6, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6); // back-right-bottom
add_motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7); // back-left-top
add_motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8); // back-left-bottom
add_motor(AP_MOTORS_MOT_9, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9); // left-top
add_motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10); // left-bottom
add_motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11); // forward-left-top
add_motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12); // forward-left-bottom
success = true;
break;
default:
// dodeca-hexa frame class does not support this frame type
break;
}}
break;
case MOTOR_FRAME_Y6: case MOTOR_FRAME_Y6:
switch (frame_type) { switch (frame_type) {
case MOTOR_FRAME_TYPE_Y6B: case MOTOR_FRAME_TYPE_Y6B:

7
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -15,8 +15,12 @@
#define AP_MOTORS_MOT_6 5U #define AP_MOTORS_MOT_6 5U
#define AP_MOTORS_MOT_7 6U #define AP_MOTORS_MOT_7 6U
#define AP_MOTORS_MOT_8 7U #define AP_MOTORS_MOT_8 7U
#define AP_MOTORS_MOT_9 8U
#define AP_MOTORS_MOT_10 9U
#define AP_MOTORS_MOT_11 10U
#define AP_MOTORS_MOT_12 11U
#define AP_MOTORS_MAX_NUM_MOTORS 8 #define AP_MOTORS_MAX_NUM_MOTORS 12
// motor update rate // motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors #define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
@ -38,6 +42,7 @@ public:
MOTOR_FRAME_COAX = 9, MOTOR_FRAME_COAX = 9,
MOTOR_FRAME_TAILSITTER = 10, MOTOR_FRAME_TAILSITTER = 10,
MOTOR_FRAME_HELI_DUAL = 11, MOTOR_FRAME_HELI_DUAL = 11,
MOTOR_FRAME_DODECAHEXA = 12,
}; };
enum motor_frame_type { enum motor_frame_type {
MOTOR_FRAME_TYPE_PLUS = 0, MOTOR_FRAME_TYPE_PLUS = 0,