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AP_Motors: remove Hexa-H, change Octa-H factors 

Octa-H is like an Quad-X but with each side having two additional motors placed between the front an back motors.
Octa-H is quite different from Quad-H.
This commit is contained in:
Randy Mackay 2017-02-10 10:39:57 +09:00
parent 8f478a62d7
commit 8b5aae37e0
1 changed files with 8 additions and 17 deletions
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25
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -476,15 +476,6 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
success = true;
break;
case MOTOR_FRAME_TYPE_H:
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_CW, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
success = true;
break;
default:
// hexa frame class does not support this frame type
break;
@ -527,14 +518,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
success = true;
break;
case MOTOR_FRAME_TYPE_H:
add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, -1.0f, 0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_4, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_7, 1.0f, 0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_8, -1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
success = true;
break;
default: