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AP_Scripting: add fault tolerant hex MotorsMatrix example

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Iampete1 2021-02-08 19:10:44 +00:00 committed by Randy Mackay
parent 4324d66c13
commit 6d650e74f2
1 changed files with 35 additions and 0 deletions
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libraries/AP_Scripting/examples/MotorMatrix_fault_tolerant_hex.lua Normal file
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-- This script is an example setting up a custom motor matrix mix
-- this is the config for hexacopter with the motor rotations configured for improved fault tolerance
-- see: https://arxiv.org/pdf/1403.5986.pdf
-- duplicate the #defines from AP_Motors
local AP_MOTORS_MATRIX_YAW_FACTOR_CW = -1
local AP_MOTORS_MATRIX_YAW_FACTOR_CCW = 1
local AP_MOTORS_MOT_1 = 0
local AP_MOTORS_MOT_2 = 1
local AP_MOTORS_MOT_3 = 2
local AP_MOTORS_MOT_4 = 3
local AP_MOTORS_MOT_5 = 4
local AP_MOTORS_MOT_6 = 5
-- helper function duplication the one found in AP_MotorsMatrix
local function add_motor(motor_num, angle_degrees, yaw_factor, testing_order)
MotorsMatrix:add_motor_raw(motor_num,math.cos(math.rad(angle_degrees + 90)),
math.cos(math.rad(angle_degrees)),
yaw_factor,
testing_order)
end
-- this duplicates the add motor format used in AP_Motors for ease of modification of existing mixes
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5)
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1)
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
assert(MotorsMatrix:init(6), "Failed to init MotorsMatrix")