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SITL: add dodeca-hexa support

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This commit is contained in:
murata 2017-05-27 13:47:55 +09:00 committed by Randy Mackay
parent 1a76c28655
commit c21b586ccc
2 changed files with 18 additions and 0 deletions
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1
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -90,6 +90,7 @@ static const struct {
{ "x", MultiCopter::create },
{ "hexa", MultiCopter::create },
{ "octa", MultiCopter::create },
{ "dodeca-hexa", MultiCopter::create },
{ "tri", MultiCopter::create },
{ "y6", MultiCopter::create },
{ "heli", Helicopter::create },

17
libraries/SITL/SIM_Frame.cpp
View File

@ -83,6 +83,22 @@ static Motor octa_quad_motors[] =
Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
};
static Motor dodeca_hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
Motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
Motor(AP_MOTORS_MOT_9, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10),
Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11),
Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
};
static Motor tri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
@ -141,6 +157,7 @@ static Frame supported_frames[] =
Frame("hexa", 6, hexa_motors),
Frame("octa-quad", 8, octa_quad_motors),
Frame("octa", 8, octa_motors),
Frame("dodeca-hexa", 12, dodeca_hexa_motors),
Frame("tri", 3, tri_motors),
Frame("tilttrivec",3, tilttri_vectored_motors),
Frame("tilttri", 3, tilttri_motors),