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Copter: Leonard's fix for trapezoidal frame 

We need to allow yaw_factors to be floats in the add_motor method
This commit is contained in:
Randy Mackay 2013-04-25 17:52:19 +09:00
parent 74dca6da22
commit cb5f8826f8
7 changed files with 72 additions and 72 deletions
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24
libraries/AP_Motors/AP_MotorsHexa.cpp
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@ -19,19 +19,19 @@ void AP_MotorsHexa::setup_motors()
// hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
}
}

4
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -342,14 +342,14 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
}
// add_motor using just position and prop direction
void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t testing_order)
void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order)
{
// call raw motor set-up method
add_motor_raw(
motor_num,
cosf(radians(angle_degrees + 90)), // roll factor
cosf(radians(angle_degrees)), // pitch factor
(float)direction, // yaw factor
yaw_factor, // yaw factor
testing_order);
}

8
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -14,8 +14,8 @@
#define AP_MOTORS_MATRIX_MOTOR_UNDEFINED -1
#define AP_MOTORS_MATRIX_ORDER_UNDEFINED -1
#define AP_MOTORS_MATRIX_MOTOR_CW -1
#define AP_MOTORS_MATRIX_MOTOR_CCW 1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
#define AP_MOTORS_MATRIX_YAW_LOWER_LIMIT_PWM 100
@ -53,8 +53,8 @@ public:
// output_min - sends minimum values out to the motors
virtual void output_min();
// add_motor using just position and prop direction
virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// add_motor using just position and yaw_factor (or prop direction)
virtual void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// remove_motor
virtual void remove_motor(int8_t motor_num);

48
libraries/AP_Motors/AP_MotorsOcta.cpp
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@ -19,35 +19,35 @@ void AP_MotorsOcta::setup_motors()
// hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
}else {
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
}

32
libraries/AP_Motors/AP_MotorsOctaQuad.cpp
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@ -19,23 +19,23 @@ void AP_MotorsOctaQuad::setup_motors()
// hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, 6);
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, 6);
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, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}
}

16
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -19,10 +19,10 @@ void AP_MotorsQuad::setup_motors()
// hard coded config for supported frames
if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
// plus frame set-up
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3);
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
@ -30,9 +30,9 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 2);
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
}
}

12
libraries/AP_Motors/AP_MotorsY6.cpp
View File

@ -17,10 +17,10 @@ void AP_MotorsY6::setup_motors()
AP_MotorsMatrix::setup_motors();
// MultiWii set-up
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}