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pysim: added more frame types

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This commit is contained in:
Andrew Tridgell 2012-01-04 21:45:58 +11:00
parent ca39fc8b47
commit 9df96d0e07
1 changed files with 30 additions and 2 deletions
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32
Tools/autotest/pysim/multicopter.py
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@ -12,16 +12,44 @@ class Motor(object):
def build_motors(frame): def build_motors(frame):
'''build a motors list given a frame type''' '''build a motors list given a frame type'''
if frame in [ '+', 'X' ]: frame = frame.lower()
if frame in [ 'quad', '+', 'x' ]:
motors = [ motors = [
Motor(90, False, 1), Motor(90, False, 1),
Motor(270, False, 2), Motor(270, False, 2),
Motor(0, True, 3), Motor(0, True, 3),
Motor(180, True, 4), Motor(180, True, 4),
] ]
if frame == 'X': if frame in [ 'x', 'quadx' ]:
for i in range(4): for i in range(4):
motors[i].angle -= 45.0 motors[i].angle -= 45.0
elif frame in ["y6"]:
motors = [
Motor(60, False, 1),
Motor(60, True, 7),
Motor(180, True, 4),
Motor(180, False, 8),
Motor(-60, True, 2),
Motor(-60, False, 3),
]
elif frame in ["hexa", "hexa+"]:
motors = [
Motor(0, True, 1),
Motor(60, False, 4),
Motor(120, True, 8),
Motor(180, False, 2),
Motor(240, True, 3),
Motor(300, False, 7),
]
elif frame in ["hexax"]:
motors = [
Motor(30, False, 7),
Motor(90, True, 1),
Motor(150, False, 4),
Motor(210, True, 8),
Motor(270, False, 2),
Motor(330, True, 3),
]
elif frame in ["octa", "octa+"]: elif frame in ["octa", "octa+"]:
motors = [ motors = [
Motor(0, True, 1), Motor(0, True, 1),