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AP_Motors: Support for decacopters

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murata 2020-09-17 00:00:00 +09:00 committed by Andrew Tridgell
parent a43064bb4e
commit 159a6c7ed6
2 changed files with 34 additions and 0 deletions
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33
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -874,6 +874,39 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
break;
case MOTOR_FRAME_DECA:
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, 108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, 144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, -108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_9, -72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9);
add_motor(AP_MOTORS_MOT_10, -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10);
break;
case MOTOR_FRAME_TYPE_X:
add_motor(AP_MOTORS_MOT_1, 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_4, 126, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_5, 162, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor(AP_MOTORS_MOT_6, -162, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
add_motor(AP_MOTORS_MOT_7, -126, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_8, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_9, -54, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9);
add_motor(AP_MOTORS_MOT_10, -18, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10);
break;
default:
// deca frame class does not support this frame type
success = false;
break;
}
break;
default:
// matrix doesn't support the configured class
success = false;

1
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -44,6 +44,7 @@ public:
MOTOR_FRAME_HELI_DUAL = 11,
MOTOR_FRAME_DODECAHEXA = 12,
MOTOR_FRAME_HELI_QUAD = 13,
MOTOR_FRAME_DECA = 14,
};
enum motor_frame_type {
MOTOR_FRAME_TYPE_PLUS = 0,