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Copter: add dodeca-hexa

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This commit is contained in:
murata 2017-05-14 10:15:02 +09:00 committed by Randy Mackay
parent 66fc49889b
commit 1a76c28655
2 changed files with 6 additions and 1 deletions
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2
ArduCopter/Parameters.cpp
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@ -987,7 +987,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FRAME_CLASS // @Param: FRAME_CLASS
// @DisplayName: Frame Class // @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component // @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter // @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 11:Heli_Dual, 12:DodecaHexa
// @User: Standard // @User: Standard
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0), AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0),

5
ArduCopter/system.cpp
View File

@ -536,6 +536,8 @@ uint8_t Copter::get_frame_mav_type()
case AP_Motors::MOTOR_FRAME_COAX: case AP_Motors::MOTOR_FRAME_COAX:
case AP_Motors::MOTOR_FRAME_TAILSITTER: case AP_Motors::MOTOR_FRAME_TAILSITTER:
return MAV_TYPE_COAXIAL; return MAV_TYPE_COAXIAL;
case AP_Motors::MOTOR_FRAME_DODECAHEXA:
return MAV_TYPE_HEXAROTOR;
} }
// unknown frame so return generic // unknown frame so return generic
return MAV_TYPE_GENERIC; return MAV_TYPE_GENERIC;
@ -567,6 +569,8 @@ const char* Copter::get_frame_string()
return "COAX"; return "COAX";
case AP_Motors::MOTOR_FRAME_TAILSITTER: case AP_Motors::MOTOR_FRAME_TAILSITTER:
return "TAILSITTER"; return "TAILSITTER";
case AP_Motors::MOTOR_FRAME_DODECAHEXA:
return "DODECA_HEXA";
case AP_Motors::MOTOR_FRAME_UNDEFINED: case AP_Motors::MOTOR_FRAME_UNDEFINED:
default: default:
return "UNKNOWN"; return "UNKNOWN";
@ -585,6 +589,7 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_Y6: case AP_Motors::MOTOR_FRAME_Y6:
case AP_Motors::MOTOR_FRAME_OCTA: case AP_Motors::MOTOR_FRAME_OCTA:
case AP_Motors::MOTOR_FRAME_OCTAQUAD: case AP_Motors::MOTOR_FRAME_OCTAQUAD:
case AP_Motors::MOTOR_FRAME_DODECAHEXA:
default: default:
motors = new AP_MotorsMatrix(MAIN_LOOP_RATE); motors = new AP_MotorsMatrix(MAIN_LOOP_RATE);
motors_var_info = AP_MotorsMatrix::var_info; motors_var_info = AP_MotorsMatrix::var_info;