From 08f27f76681c0a1489700c354d3f4de6d5ac910d Mon Sep 17 00:00:00 2001 From: Rishabh Date: Sat, 1 Feb 2020 14:45:35 +0530 Subject: [PATCH] SITL: Added cwx motor setup for hexa, octa and octaquad --- libraries/SITL/SIM_Frame.cpp | 37 ++++++++++++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp index 302d91e9fd..96a9c834a1 100644 --- a/libraries/SITL/SIM_Frame.cpp +++ b/libraries/SITL/SIM_Frame.cpp @@ -115,6 +115,16 @@ static Motor hexa_dji_x_motors[] = Motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2) }; +static Motor hexa_cw_x_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), + Motor(AP_MOTORS_MOT_3, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), + Motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), + Motor(AP_MOTORS_MOT_6, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6) +}; + static Motor octa_motors[] = { Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), @@ -139,6 +149,18 @@ static Motor octa_dji_x_motors[] = Motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2) }; +static Motor octa_cw_x_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), + Motor(AP_MOTORS_MOT_3, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), + Motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), + Motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6), + Motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7), + Motor(AP_MOTORS_MOT_8, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8) +}; + static Motor octa_quad_motors[] = { Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), @@ -151,6 +173,18 @@ static Motor octa_quad_motors[] = Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6) }; +static Motor octa_quad_cw_x_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), + Motor(AP_MOTORS_MOT_3, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), + Motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), + Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6), + Motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7), + Motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8) +}; + static Motor dodeca_hexa_motors[] = { Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), @@ -227,9 +261,12 @@ static Frame supported_frames[] = Frame("cwx", 4, quad_cw_x_motors), Frame("tilthvec", 4, tiltquad_h_vectored_motors), Frame("hexax", 6, hexax_motors), + Frame("hexa-cwx", 6, hexa_cw_x_motors), Frame("hexa-dji", 6, hexa_dji_x_motors), Frame("hexa", 6, hexa_motors), + Frame("octa-cwx", 8, octa_cw_x_motors), Frame("octa-dji", 8, octa_dji_x_motors), + Frame("octa-quad-cwx",8, octa_quad_cw_x_motors), Frame("octa-quad", 8, octa_quad_motors), Frame("octa", 8, octa_motors), Frame("dodeca-hexa", 12, dodeca_hexa_motors),