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AP_Motors: added 3 more motor orders for X quads

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- betaflight X
 - DJI X
 - clockwise X
This commit is contained in:
Andrew Tridgell 2019-02-01 14:30:47 +11:00
parent 40babb1172
commit cf8b059531
2 changed files with 31 additions and 1 deletions
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27
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -484,6 +484,33 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
success = true;
break;
case MOTOR_FRAME_TYPE_BF_X:
// betaflight quad X order
// see: https://fpvfrenzy.com/betaflight-motor-order/
add_motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3);
add_motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
success = true;
break;
case MOTOR_FRAME_TYPE_DJI_X:
// DJI quad X order
// see https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
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, 4);
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, 2);
success = true;
break;
case MOTOR_FRAME_TYPE_CW_X:
// "clockwise X" motor order. Motors are ordered clockwise from front right
// matching test order
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_CW, 2);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
success = true;
break;
case MOTOR_FRAME_TYPE_V:
add_motor(AP_MOTORS_MOT_1, 45, 0.7981f, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000f, 3);

5
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -54,7 +54,10 @@ public:
MOTOR_FRAME_TYPE_ATAIL = 5,
MOTOR_FRAME_TYPE_PLUSREV = 6, // plus with reversed motor direction
MOTOR_FRAME_TYPE_Y6B = 10,
MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6
MOTOR_FRAME_TYPE_Y6F = 11, // for FireFlyY6
MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering
MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering
MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering
};
// Constructor