/*
	AP_MotorsHexa.cpp - ArduCopter motors library
	Code by RandyMackay. DIYDrones.com

	This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.
*/

#include "AP_MotorsHexa.h"

// setup_motors - configures the motors for a hexa
void AP_MotorsHexa::setup_motors()
{
	// call parent
	AP_MotorsMatrix::setup_motors();

	// hard coded config for supported frames
	if( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
		// plus frame set-up
		add_motor(AP_MOTORS_MOT_1,   0, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_2, 1);
		add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 4);
		add_motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_4, 5);
		add_motor(AP_MOTORS_MOT_4,  60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2);
		add_motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6);
		add_motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_5, 3);
	}else{
		// X frame set-up
		add_motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_2, 2);
		add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
		add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_4, 6);
		add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 3);
		add_motor(AP_MOTORS_MOT_5,  30, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 1);
		add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_MOTOR_CW,  AP_MOTORS_MOT_5, 4);
	}
}