Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: return MAV_TYPE as quadcopter by default 

This allows the GCSs to know that the firmware is for a multicopter
This commit is contained in:
Randy Mackay 2017-01-12 09:27:02 +09:00
parent 1432763ca5
commit b1e494a209
1 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/system.cpp
View File

@ -497,6 +497,7 @@ uint8_t Copter::get_frame_mav_type()
{ {
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) { switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
case AP_Motors::MOTOR_FRAME_QUAD: case AP_Motors::MOTOR_FRAME_QUAD:
case AP_Motors::MOTOR_FRAME_UNDEFINED:
return MAV_TYPE_QUADROTOR; return MAV_TYPE_QUADROTOR;
case AP_Motors::MOTOR_FRAME_HEXA: case AP_Motors::MOTOR_FRAME_HEXA:
case AP_Motors::MOTOR_FRAME_Y6: case AP_Motors::MOTOR_FRAME_Y6:
@ -511,9 +512,6 @@ uint8_t Copter::get_frame_mav_type()
case AP_Motors::MOTOR_FRAME_SINGLE: case AP_Motors::MOTOR_FRAME_SINGLE:
case AP_Motors::MOTOR_FRAME_COAX: case AP_Motors::MOTOR_FRAME_COAX:
return MAV_TYPE_COAXIAL; return MAV_TYPE_COAXIAL;
case AP_Motors::MOTOR_FRAME_UNDEFINED:
default:
break;
} }
// unknown frame so return generic // unknown frame so return generic
return MAV_TYPE_GENERIC; return MAV_TYPE_GENERIC;