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SITL: Add tilthvec frame

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This commit is contained in:
mirkix 2017-08-20 21:09:59 +02:00 committed by Andrew Tridgell
parent 9491f7da55
commit 93b3970141
2 changed files with 11 additions and 0 deletions
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9
libraries/SITL/SIM_Frame.cpp
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@ -39,6 +39,14 @@ static Motor quad_x_motors[] =
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
}; };
static Motor tiltquad_h_vectored_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, 7, 10, -90),
Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90),
};
static Motor hexa_motors[] = static Motor hexa_motors[] =
{ {
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
@ -153,6 +161,7 @@ static Frame supported_frames[] =
Frame("quad", 4, quad_plus_motors), Frame("quad", 4, quad_plus_motors),
Frame("copter", 4, quad_plus_motors), Frame("copter", 4, quad_plus_motors),
Frame("x", 4, quad_x_motors), Frame("x", 4, quad_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),
Frame("hexax", 6, hexax_motors), Frame("hexax", 6, hexax_motors),
Frame("hexa", 6, hexa_motors), Frame("hexa", 6, hexa_motors),
Frame("octa-quad", 8, octa_quad_motors), Frame("octa-quad", 8, octa_quad_motors),

2
libraries/SITL/SIM_QuadPlane.cpp
View File

@ -49,6 +49,8 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
frame_type = "tilttrivec"; frame_type = "tilttrivec";
// fwd motor gives zero thrust // fwd motor gives zero thrust
thrust_scale = 0; thrust_scale = 0;
} else if (strstr(frame_str, "-tilthvec")) {
frame_type = "tilthvec";
} else if (strstr(frame_str, "-tilttri")) { } else if (strstr(frame_str, "-tilttri")) {
frame_type = "tilttri"; frame_type = "tilttri";
// fwd motor gives zero thrust // fwd motor gives zero thrust