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AP_Motors: added quadplane frame type 

this puts the motors on outputs 5 to 8, to leave the first 4 for the
plane
This commit is contained in:
Andrew Tridgell 2015-11-24 10:18:09 +11:00
parent 22e25cc792
commit b187a0c6eb
2 changed files with 7 additions and 0 deletions
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6
libraries/AP_Motors/AP_MotorsQuad.cpp
View File

@ -88,6 +88,12 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_2, 0, -160, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -60, -60, 0, 4);
add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
} else if ( _flags.frame_orientation == AP_MOTORS_QUADPLANE ) {
// quadplane frame set-up, X arrangement on motors 5 to 8
add_motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_8, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);

1
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -32,6 +32,7 @@
#define AP_MOTORS_NEW_X_FRAME 11
#define AP_MOTORS_NEW_V_FRAME 12
#define AP_MOTORS_NEW_H_FRAME 13 // same as X frame but motors spin in opposite direction
#define AP_MOTORS_QUADPLANE 14 // motors on 5..8
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors