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AP_Motors6DOF: add Sub OMNI frame

This commit is contained in:
Willian Galvani 2022-06-16 21:42:00 -07:00
parent 62e3c6a6a9
commit ab78118954
2 changed files with 13 additions and 1 deletions
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11
libraries/AP_Motors/AP_Motors6DOF.cpp
View File

@ -175,6 +175,17 @@ void AP_Motors6DOF::setup_motors(motor_frame_class frame_class, motor_frame_type
add_motor_raw_6dof(AP_MOTORS_MOT_6, -1.0f, 0, 0, -1.0f, 0, 0, 6);
break;
case SUB_FRAME_VECTORED_OMNI:
add_motor_raw_6dof(AP_MOTORS_MOT_1, -1, -1, 1, -1, 1, 1, 1);
add_motor_raw_6dof(AP_MOTORS_MOT_2, 1, -1, -1, -1, 1, -1, 2);
add_motor_raw_6dof(AP_MOTORS_MOT_3, 1, 1, 1, -1, -1, -1, 3);
add_motor_raw_6dof(AP_MOTORS_MOT_4, -1, 1, -1, -1, -1, 1, 4);
add_motor_raw_6dof(AP_MOTORS_MOT_5, 1, 1, 1, 1, 1, 1, 5);
add_motor_raw_6dof(AP_MOTORS_MOT_6, -1, 1, -1, 1, 1, -1, 6);
add_motor_raw_6dof(AP_MOTORS_MOT_7, -1, -1, 1, 1, -1, -1, 7);
add_motor_raw_6dof(AP_MOTORS_MOT_8, 1, -1, -1, 1, -1, 1, 8);
break;
case SUB_FRAME_CUSTOM:
// Put your custom motor setup here
//break;

3
libraries/AP_Motors/AP_Motors6DOF.h
View File

@ -26,7 +26,8 @@ public:
SUB_FRAME_SIMPLEROV_3,
SUB_FRAME_SIMPLEROV_4,
SUB_FRAME_SIMPLEROV_5,
SUB_FRAME_CUSTOM
SUB_FRAME_CUSTOM,
SUB_FRAME_VECTORED_OMNI
} sub_frame_t;
// Override parent