ardupilot/libraries/AP_Motors/AP_MotorsY6.h

32 lines
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C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_MotorsY6.h
/// @brief Motor control class for Y6 frames
#ifndef __AP_MOTORS_Y6_H__
#define __AP_MOTORS_Y6_H__
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
#include <AP_MotorsMatrix.h> // Parent Motors Matrix library
#define AP_MOTORS_Y6_YAW_DIRECTION 1 // this really should be a user selectable parameter
/// @class AP_MotorsY6
class AP_MotorsY6 : public AP_MotorsMatrix {
public:
/// Constructor
AP_MotorsY6(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
};
// setup_motors - configures the motors for a Y6
virtual void setup_motors();
protected:
};
#endif // AP_MOTORSY6