mirror of https://github.com/ArduPilot/ardupilot
32 lines
1.0 KiB
C++
32 lines
1.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_MotorsY6.h
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/// @brief Motor control class for Y6 frames
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#ifndef AP_MOTORSY6
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#define AP_MOTORSY6
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel.h> // RC Channel Library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_MotorsMatrix.h> // Parent Motors Matrix library
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#define AP_MOTORS_Y6_YAW_DIRECTION 1 // this really should be a user selectable parameter
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/// @class AP_MotorsY6
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class AP_MotorsY6 : public AP_MotorsMatrix {
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public:
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/// Constructor
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AP_MotorsY6( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) {};
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// setup_motors - configures the motors for a quad
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virtual void setup_motors();
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protected:
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};
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#endif // AP_MOTORSY6
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