#ifndef __ARDUCOPTER_CONFIG_MOTORS_H__ #define __ARDUCOPTER_CONFIG_MOTORS_H__ ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // // WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING // // DO NOT EDIT this file to adjust your configuration. Create your own // APM_Config.h and use APM_Config.h.example as a reference. // // WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING // ////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////// // #include "config.h" // // // Output CH mapping for ArduCopter motor channels // // #define CH_INVALID (-1) #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 # define MOT_1 CH_1 # define MOT_2 CH_2 # define MOT_3 CH_3 # define MOT_4 CH_4 # define MOT_5 CH_5 # define MOT_6 CH_6 # define MOT_7 CH_7 # define MOT_8 CH_8 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 #if FRAME_CONFIG == QUAD_FRAME // X and Plus # define MOT_1 CH_1 # define MOT_2 CH_2 # define MOT_3 CH_3 # define MOT_4 CH_4 // Placeholders: # define MOT_5 CH_INVALID # define MOT_6 CH_INVALID # define MOT_7 CH_INVALID # define MOT_8 CH_INVALID #elif FRAME_CONFIG == TRI_FRAME # define MOT_1 CH_1 # define MOT_2 CH_2 # define MOT_3 CH_4 // Placeholders: # define MOT_4 CH_INVALID # define MOT_5 CH_INVALID # define MOT_6 CH_INVALID # define MOT_7 CH_INVALID # define MOT_8 CH_INVALID #elif FRAME_CONFIG == HEXA_FRAME # define MOT_1 CH_7 # define MOT_2 CH_3 # define MOT_3 CH_2 # define MOT_4 CH_8 # define MOT_5 CH_4 # define MOT_6 CH_1 // Placeholders: # define MOT_7 CH_INVALID # define MOT_8 CH_INVALID #elif FRAME_CONFIG == Y6_FRAME # define MOT_1 CH_1 # define MOT_2 CH_7 # define MOT_3 CH_3 # define MOT_4 CH_2 # define MOT_5 CH_8 # define MOT_6 CH_4 // Placeholders: # define MOT_7 CH_INVALID # define MOT_8 CH_INVALID #elif FRAME_CONFIG == OCTA_FRAME # define MOT_1 CH_2 # define MOT_2 CH_1 # define MOT_3 CH_11 # define MOT_4 CH_10 # define MOT_5 CH_8 # define MOT_6 CH_7 # define MOT_7 CH_4 # define MOT_8 CH_3 #elif FRAME_CONFIG == OCTA_QUAD_FRAME # define MOT_1 CH_1 # define MOT_2 CH_2 # define MOT_3 CH_3 # define MOT_4 CH_4 # define MOT_5 CH_7 # define MOT_6 CH_8 # define MOT_7 CH_10 # define MOT_8 CH_11 #else // HELI # define MOT_1 CH_1 # define MOT_2 CH_2 # define MOT_3 CH_3 # define MOT_4 CH_4 # define MOT_5 CH_5 # define MOT_6 CH_6 # define MOT_7 CH_7 # define MOT_8 CH_8 #endif // FRAME_CONFIG #endif // CONFIG_APM_HARDWARE // // // Output CH mapping for TRI_FRAME yaw servo // // #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 # define CH_TRI_YAW CH_7 #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 # define CH_TRI_YAW CH_7 #endif // // // Output CH mapping for Aux channels // // #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 /* Camera Pitch and Camera Roll: Not yet defined for APM2 * They will likely be dependent on the frame config */ # define CH_CAM_PITCH (-1) # define CH_CAM_ROLL (-1) #elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 # define CH_CAM_PITCH CH_5 # define CH_CAM_ROLL CH_6 #endif #endif // __ARDUCOPTER_CONFIG_MOTORS_H__