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AP_Motors: Added cwx motor setup for hexa, octa and octaquad

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Rishabh 2020-02-01 14:43:50 +05:30 committed by Randy Mackay
parent 14e758a6d1
commit aec65ed6ff
1 changed files with 28 additions and 0 deletions
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28
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -642,6 +642,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); add_motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); add_motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
break; break;
case MOTOR_FRAME_TYPE_CW_X:
add_motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
break;
default: default:
// hexa frame class does not support this frame type // hexa frame class does not support this frame type
success = false; success = false;
@ -711,6 +719,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3); add_motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2); add_motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
break; break;
case MOTOR_FRAME_TYPE_CW_X:
add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
break;
default: default:
// octa frame class does not support this frame type // octa frame class does not support this frame type
success = false; success = false;
@ -761,6 +779,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4); add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
break; break;
case MOTOR_FRAME_TYPE_CW_X:
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
break;
default: default:
// octaquad frame class does not support this frame type // octaquad frame class does not support this frame type
success = false; success = false;