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AP_Motors: added PlusRev motors type

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this is a plus frame with reversed motor direction, needed for quad in
Morse simulator
This commit is contained in:
Andrew Tridgell 2018-12-03 18:55:44 +11:00
parent c8c54b369a
commit d907c5757d
2 changed files with 9 additions and 0 deletions
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8
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -547,6 +547,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
success = true;
break;
case MOTOR_FRAME_TYPE_PLUSREV:
// plus with reversed motor directions
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_CW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3);
success = true;
break;
default:
// quad frame class does not support this frame type
break;

1
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -52,6 +52,7 @@ public:
MOTOR_FRAME_TYPE_H = 3,
MOTOR_FRAME_TYPE_VTAIL = 4,
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
};