mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.4 KiB
C++
34 lines
1.4 KiB
C++
/*
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* AP_MotorsQuad.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_MotorsQuad.h"
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// setup_motors - configures the motors for a quad
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void AP_MotorsQuad::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( _frame_orientation == AP_MOTORS_PLUS_FRAME ) {
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// plus frame set-up
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 2);
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 4);
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add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 1);
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add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_3, 3);
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}else{
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 1);
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 3);
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_3, 2);
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}
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}
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