mirror of https://github.com/ArduPilot/ardupilot
41 lines
2.1 KiB
C++
41 lines
2.1 KiB
C++
/*
|
|
* AP_MotorsOctaQuad.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_MotorsOctaQuad.h"
|
|
|
|
// setup_motors - configures the motors for a octa
|
|
void AP_MotorsOctaQuad::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_CCW, AP_MOTORS_MOT_3, 1);
|
|
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7);
|
|
add_motor(AP_MOTORS_MOT_3, 180, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
|
|
add_motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4);
|
|
add_motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8);
|
|
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2);
|
|
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
|
|
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6);
|
|
}else{
|
|
// X frame set-up
|
|
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 1);
|
|
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 7);
|
|
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 5);
|
|
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 4);
|
|
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_7, 8);
|
|
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 2);
|
|
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
|
|
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_6, 6);
|
|
}
|
|
} |