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SITL: Support Hexadeca-Octa (OCTA-X16)

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This commit is contained in:
murata 2022-07-10 10:48:14 +09:00 committed by Peter Barker
parent 25b02a8312
commit 7de6eb5b20
1 changed files with 42 additions and 0 deletions
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42
libraries/SITL/SIM_Frame.cpp
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@ -213,6 +213,46 @@ static Motor dodeca_hexa_motors[] =
Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
};
static Motor hexadeca_octa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 9),
Motor(AP_MOTORS_MOT_10, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 10),
Motor(AP_MOTORS_MOT_11, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 11),
Motor(AP_MOTORS_MOT_12, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 12),
Motor(AP_MOTORS_MOT_13, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 13),
Motor(AP_MOTORS_MOT_14, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 14),
Motor(AP_MOTORS_MOT_15, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 15),
Motor(AP_MOTORS_MOT_16, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 16)
};
static Motor hexadeca_octa_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_3, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_6, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_7, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 9),
Motor(AP_MOTORS_MOT_10, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 10),
Motor(AP_MOTORS_MOT_11, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 11),
Motor(AP_MOTORS_MOT_12, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 12),
Motor(AP_MOTORS_MOT_13, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 13),
Motor(AP_MOTORS_MOT_14, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 14),
Motor(AP_MOTORS_MOT_15, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 15),
Motor(AP_MOTORS_MOT_16, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 16)
};
static Motor deca_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
@ -300,6 +340,8 @@ static Frame supported_frames[] =
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),
Frame("hexadeca-octa", 16, hexadeca_octa_motors),
Frame("hexadeca-octa-cwx", 16, hexadeca_octa_cw_x_motors),
Frame("hexax", 6, hexax_motors),
Frame("hexa-cwx", 6, hexa_cw_x_motors),
Frame("hexa-dji", 6, hexa_dji_x_motors),