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SITL: Added DJI Hexa and Octa for SITL

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Rishabh 2020-01-28 17:31:34 +05:30 committed by Randy Mackay
parent 38533b2f09
commit dc662a56b2
1 changed files with 24 additions and 0 deletions
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24
libraries/SITL/SIM_Frame.cpp
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@ -105,6 +105,16 @@ static Motor hexax_motors[] =
Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4) Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
}; };
static Motor hexa_dji_x_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, 6),
Motor(AP_MOTORS_MOT_3, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
};
static Motor octa_motors[] = static Motor octa_motors[] =
{ {
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
@ -117,6 +127,18 @@ static Motor octa_motors[] =
Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3) Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
}; };
static Motor octa_dji_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_3, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_4, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
};
static Motor octa_quad_motors[] = static Motor octa_quad_motors[] =
{ {
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
@ -205,7 +227,9 @@ static Frame supported_frames[] =
Frame("cwx", 4, quad_cw_x_motors), Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors), Frame("tilthvec", 4, tiltquad_h_vectored_motors),
Frame("hexax", 6, hexax_motors), Frame("hexax", 6, hexax_motors),
Frame("hexa-dji", 6, hexa_dji_x_motors),
Frame("hexa", 6, hexa_motors), Frame("hexa", 6, hexa_motors),
Frame("octa-dji", 8, octa_dji_x_motors),
Frame("octa-quad", 8, octa_quad_motors), Frame("octa-quad", 8, octa_quad_motors),
Frame("octa", 8, octa_motors), Frame("octa", 8, octa_motors),
Frame("dodeca-hexa", 12, dodeca_hexa_motors), Frame("dodeca-hexa", 12, dodeca_hexa_motors),