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AP_Motors: add build options for each frame class

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Hwurzburg 2021-10-24 13:24:33 -05:00 committed by Randy Mackay
parent 8f591a853b
commit 9349abfe48
2 changed files with 39 additions and 9 deletions
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26
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -585,7 +585,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
bool success = true;
switch (frame_class) {
#if FRAME_QUAD
case MOTOR_FRAME_QUAD:
_frame_class_string = "QUAD";
_mav_type = MAV_TYPE_QUADROTOR;
@ -635,7 +635,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motors(motors, ARRAY_SIZE(motors));
break;
}
#endif
#endif //APM_BUILD_TYPE(APM_BUILD_ArduPlane)
case MOTOR_FRAME_TYPE_BF_X: {
// betaflight quad X order
// see: https://fpvfrenzy.com/betaflight-motor-order/
@ -772,7 +772,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
}
break; // quad
#endif //FRAME_QUAD
#if FRAME_HEXA
case MOTOR_FRAME_HEXA:
_frame_class_string = "HEXA";
_mav_type = MAV_TYPE_HEXAROTOR;
@ -850,7 +851,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
}
break;
#endif //FRAME_HEXA
#if FRAME_OCTA
case MOTOR_FRAME_OCTA:
_frame_class_string = "OCTA";
_mav_type = MAV_TYPE_OCTOROTOR;
@ -968,7 +970,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
} // octa frame type
break;
#endif //FRAME_OCTA
#if FRAME_OCTAQUAD
case MOTOR_FRAME_OCTAQUAD:
_mav_type = MAV_TYPE_OCTOROTOR;
_frame_class_string = "OCTAQUAD";
@ -1055,7 +1058,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
}
break;
#endif //FRAME_OCTAQUAD
#if FRAME_DODECAHEXA
case MOTOR_FRAME_DODECAHEXA: {
_mav_type = MAV_TYPE_DODECAROTOR;
_frame_class_string = "DODECAHEXA";
@ -1105,7 +1109,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
}}
break;
#endif //FRAME_DODECAHEXA
#if FRAME_Y6
case MOTOR_FRAME_Y6:
_mav_type = MAV_TYPE_HEXAROTOR;
_frame_class_string = "Y6";
@ -1153,7 +1158,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
}
break;
#endif //FRAME_Y6
#if FRAME_DECA
case MOTOR_FRAME_DECA:
_mav_type = MAV_TYPE_DECAROTOR;
_frame_class_string = "DECA";
@ -1198,13 +1204,15 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
break;
}
break;
#endif //FRAME_DECA
default:
// matrix doesn't support the configured class
_frame_class_string = "UNSUPPORTED";
success = false;
_mav_type = MAV_TYPE_GENERIC;
break;
} // switch frame_class
// normalise factors to magnitude 0.5

22
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -22,6 +22,28 @@
#define AP_MOTORS_MAX_NUM_MOTORS 12
#ifndef FRAME_QUAD
#define FRAME_QUAD 1
#endif
#ifndef FRAME_HEXA
#define FRAME_HEXA 1
#endif
#ifndef FRAME_OCTA
#define FRAME_OCTA 1
#endif
#ifndef FRAME_DECA
#define FRAME_DECA 1
#endif
#ifndef FRAME_DODECAHEXA
#define FRAME_DODECAHEXA 1
#endif
#ifndef FRAME_Y6
#define FRAME_Y6 1
#endif
#ifndef FRAME_OCTAQUAD
#define FRAME_OCTAQUAD 1
#endif
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors