From 279d515e59839cda0de115acb4e172e784a0d7c7 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 12 Dec 2013 11:57:04 +0900 Subject: [PATCH] Copter: Y6 new motor factor fix --- libraries/AP_Motors/AP_MotorsY6.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsY6.cpp b/libraries/AP_Motors/AP_MotorsY6.cpp index cabd965389..37cb9a8117 100644 --- a/libraries/AP_Motors/AP_MotorsY6.cpp +++ b/libraries/AP_Motors/AP_MotorsY6.cpp @@ -30,12 +30,12 @@ void AP_MotorsY6::setup_motors() if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) { // Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise - add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); - add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); - add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); - add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); - add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); - add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); + add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1); + add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); + add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3); + add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4); + add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); + add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); }else{ // original Y6 motor definition add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);