mirror of https://github.com/ArduPilot/ardupilot
66 lines
3.2 KiB
C++
66 lines
3.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_MotorsOcta.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include "AP_MotorsOcta.h"
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// setup_motors - configures the motors for a octa
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void AP_MotorsOcta::setup_motors()
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{
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// call parent
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AP_MotorsMatrix::setup_motors();
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// hard coded config for supported frames
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if( _flags.frame_orientation == AP_MOTORS_PLUS_FRAME ) {
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// plus frame set-up
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add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
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add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
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add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
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add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
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add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
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// V frame set-up
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add_motor_raw(AP_MOTORS_MOT_1, 1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
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add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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add_motor_raw(AP_MOTORS_MOT_3, 1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
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add_motor_raw(AP_MOTORS_MOT_4, -0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
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add_motor_raw(AP_MOTORS_MOT_6, -1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor_raw(AP_MOTORS_MOT_7, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor_raw(AP_MOTORS_MOT_8, 0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
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}else {
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_2, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
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add_motor(AP_MOTORS_MOT_3, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_5, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
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add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
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add_motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
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add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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}
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}
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