mirror of https://github.com/ArduPilot/ardupilot
15 lines
794 B
Lua
15 lines
794 B
Lua
-- This script loads the 6DoF mixer matrix for a 6 motor frame
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-- https://youtu.be/QUDhnYvH66k
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Motors_6DoF:add_motor(0, 0.003285, 0.470445, 0.031489, 0.885866, 0.563927, 0.031026, true, 1)
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Motors_6DoF:add_motor(1, -0.373686, -0.267196, 0.092861, 0.789066, -0.223271, 0.495176, true, 2)
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Motors_6DoF:add_motor(2, 0.370400, -0.203249, -0.053720, 0.841080, -0.340656, -0.526202, true, 3)
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Motors_6DoF:add_motor(3, -0.146980, -0.216342, -0.338296, 0.001577, 0.900822, -0.460986, true, 4)
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Motors_6DoF:add_motor(4, -0.205533, -0.035715, 0.359267, -0.048371, 0.010753, -1.013924, true, 5)
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Motors_6DoF:add_motor(5, 0.143881, -0.227449, 0.375220, -0.046098, 0.811593, 0.431718, true, 6)
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assert(Motors_6DoF:init(6),'unable to setup 6 motors')
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motors:set_frame_string("6DoF example")
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