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SITL: added betaflight-rev-x frame

This commit is contained in:
Andrew Tridgell 2020-01-14 17:25:07 +11:00
parent 134d8b941b
commit dc80df23e9
1 changed files with 10 additions and 0 deletions
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10
libraries/SITL/SIM_Frame.cpp
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@ -49,6 +49,15 @@ static Motor quad_bf_x_motors[] =
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
// motor order to match betaflight conventions, reversed direction
static Motor quad_bf_x_rev_motors[] =
{
Motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
};
// motor order to match DJI conventions
// See: https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
static Motor quad_dji_x_motors[] =
@ -190,6 +199,7 @@ static Frame supported_frames[] =
Frame("quad", 4, quad_plus_motors),
Frame("copter", 4, quad_plus_motors),
Frame("x", 4, quad_x_motors),
Frame("bfxrev", 4, quad_bf_x_rev_motors),
Frame("bfx", 4, quad_bf_x_motors),
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),