mirror of https://github.com/ArduPilot/ardupilot
53 lines
2.8 KiB
C++
53 lines
2.8 KiB
C++
/*
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AP_MotorsOcta.cpp - ArduCopter motors library
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Code by RandyMackay. DIYDrones.com
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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_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( _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_MOTOR_CW, AP_MOTORS_MOT_2, 1);
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add_motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5);
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add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
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add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
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add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6);
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add_motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7);
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add_motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3);
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}else if( _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, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7);
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add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3);
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add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6);
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add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
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add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
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add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2);
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add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1);
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add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5);
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}else {
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1);
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add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5);
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add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2);
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add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
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add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
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add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6);
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add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7);
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add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3);
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}
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} |