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Copter: adjust trapezoidal motor mixing

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This commit is contained in:
Randy Mackay 2013-04-04 21:46:11 +09:00
parent 59a2a95e9a
commit 739e3c2b9a
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -24,10 +24,10 @@ void AP_MotorsQuad::setup_motors()
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);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
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);
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);