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AP_Motors: add BF/X cinelifter octaquad configuration

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This commit is contained in:
Andy Piper 2022-07-24 21:36:06 +01:00 committed by Andrew Tridgell
parent 9753f36dd1
commit f666c71676
1 changed files with 35 additions and 1 deletions
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36
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -1043,7 +1043,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motors(motors, ARRAY_SIZE(motors));
break;
}
case MOTOR_FRAME_TYPE_CW_X:
case MOTOR_FRAME_TYPE_CW_X: {
_frame_type_string = "CW_X";
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
@ -1057,6 +1057,40 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
};
add_motors(motors, ARRAY_SIZE(motors));
break;
}
// BF/X cinelifters using two 4-in-1 ESCs are quite common
// see: https://fpvfrenzy.com/betaflight-motor-order/
case MOTOR_FRAME_TYPE_BF_X: {
_frame_type_string = "BF_X";
static const AP_MotorsMatrix::MotorDef motors[] {
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7 },
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8 },
};
add_motors(motors, ARRAY_SIZE(motors));
break;
}
case MOTOR_FRAME_TYPE_BF_X_REV: {
// betaflight octa quad X order, reversed motors
_frame_type_string = "X_REV";
static const AP_MotorsMatrix::MotorDef motors[] {
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7 },
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8 },
};
add_motors(motors, ARRAY_SIZE(motors));
break;
}
default:
// octaquad frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";