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AP_Motors: add support for Hexa-H frame 

same as X frame except that middle motors are closer to center
This commit is contained in:
Randy Mackay 2019-04-11 09:57:56 +09:00
parent c00ee6aac5
commit a2373ebca2
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -602,6 +602,15 @@ 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:
// H is same as X except middle motors are closer to center
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
success = true;
default:
// hexa frame class does not support this frame type
break;