mirror of https://github.com/ArduPilot/ardupilot
31 lines
834 B
C++
31 lines
834 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/// @file AP_MotorsHexa.h
|
|
/// @brief Motor control class for Hexacopters
|
|
|
|
#ifndef __AP_MOTORS_HEXA_H__
|
|
#define __AP_MOTORS_HEXA_H__
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <RC_Channel/RC_Channel.h> // RC Channel Library
|
|
#include "AP_MotorsMatrix.h" // Parent Motors Matrix library
|
|
|
|
/// @class AP_MotorsHexa
|
|
class AP_MotorsHexa : public AP_MotorsMatrix {
|
|
public:
|
|
|
|
/// Constructor
|
|
AP_MotorsHexa(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
|
|
AP_MotorsMatrix(loop_rate, speed_hz)
|
|
{ };
|
|
|
|
// setup_motors - configures the motors for a hexa
|
|
virtual void setup_motors();
|
|
|
|
protected:
|
|
|
|
};
|
|
|
|
#endif // AP_MOTORSHEXA
|