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Plane: support Y6 frame class in quadplane

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This commit is contained in:
Andrew Tridgell 2016-04-22 10:28:06 +10:00
parent 199d4fd6c1
commit a549225e60
2 changed files with 7 additions and 2 deletions
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8
ArduPlane/quadplane.cpp
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@ -220,7 +220,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: FRAME_CLASS // @Param: FRAME_CLASS
// @DisplayName: Frame Class // @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component // @Description: Controls major frame class for multicopter component
// @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad // @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad, 4:Y6
// @User: Standard // @User: Standard
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0), AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0),
@ -323,7 +323,11 @@ bool QuadPlane::setup(void)
break; break;
case FRAME_CLASS_OCTAQUAD: case FRAME_CLASS_OCTAQUAD:
setup_default_channels(8); setup_default_channels(8);
motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz()); motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz());
break;
case FRAME_CLASS_Y6:
setup_default_channels(7);
motors = new AP_MotorsY6(plane.scheduler.get_loop_rate_hz());
break; break;
default: default:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get()); hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());

1
ArduPlane/quadplane.h
View File

@ -239,6 +239,7 @@ private:
FRAME_CLASS_HEXA=1, FRAME_CLASS_HEXA=1,
FRAME_CLASS_OCTA=2, FRAME_CLASS_OCTA=2,
FRAME_CLASS_OCTAQUAD=3, FRAME_CLASS_OCTAQUAD=3,
FRAME_CLASS_Y6=4,
}; };
struct { struct {