mirror of https://github.com/ArduPilot/ardupilot
27 lines
1.1 KiB
C++
27 lines
1.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_MotorsY6.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include "AP_MotorsY6.h"
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// setup_motors - configures the motors for a hexa
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void AP_MotorsY6::setup_motors()
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{
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// call parent
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AP_MotorsMatrix::setup_motors();
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// MultiWii set-up
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add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
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add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
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add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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} |