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AP_Motors: do not use int version to define motors

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This commit is contained in:
Peter Barker 2021-09-01 17:46:05 +10:00 committed by Andrew Tridgell
parent dbb43a5746
commit 380d962648
2 changed files with 25 additions and 35 deletions
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49
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -560,8 +560,7 @@ void AP_MotorsMatrix::remove_motor(int8_t motor_num)
}
}
template <typename T>
void AP_MotorsMatrix::add_motors(T *motors, uint8_t num_motors)
void AP_MotorsMatrix::add_motors(const struct MotorDef *motors, uint8_t num_motors)
{
for (uint8_t i=0; i<num_motors; i++) {
const auto &motor = motors[i];
@ -593,7 +592,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2 },
{ -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4 },
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
@ -604,7 +603,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_X: {
_frame_type_string = "X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 },
@ -616,7 +615,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
case MOTOR_FRAME_TYPE_NYT_PLUS: {
_frame_type_string = "NYT_PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 90, 0, 2 },
{ -90, 0, 4 },
{ 0, 0, 1 },
@ -627,7 +626,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_NYT_X: {
_frame_type_string = "NYT_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, 0, 1 },
{ -135, 0, 3 },
{ -45, 0, 4 },
@ -641,7 +640,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
// betaflight quad X order
// see: https://fpvfrenzy.com/betaflight-motor-order/
_frame_type_string = "BF_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
@ -653,7 +652,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
case MOTOR_FRAME_TYPE_BF_X_REV: {
// betaflight quad X order, reversed motors
_frame_type_string = "X_REV";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 },
@ -666,7 +665,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
// DJI quad X order
// see https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
_frame_type_string = "DJI_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
@ -679,7 +678,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
// "clockwise X" motor order. Motors are ordered clockwise from front right
// matching test order
_frame_type_string = "CW_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
@ -702,7 +701,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
case MOTOR_FRAME_TYPE_H: {
// H frame set-up - same as X but motors spin in opposite directiSons
_frame_type_string = "H";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4 },
@ -757,7 +756,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
case MOTOR_FRAME_TYPE_PLUSREV:{
// plus with reversed motor directions
_frame_type_string = "PLUSREV";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 },
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
@ -780,7 +779,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4 },
{ -120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5 },
@ -793,7 +792,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_X: {
_frame_type_string = "X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 },
{ -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6 },
@ -820,7 +819,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_DJI_X: {
_frame_type_string = "DJI_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6 },
{ -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 },
@ -833,7 +832,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_CW_X: {
_frame_type_string = "CW_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
@ -858,7 +857,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2 },
@ -976,7 +975,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7 },
{ 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 },
@ -991,7 +990,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_X: {
_frame_type_string = "X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 },
@ -1022,7 +1021,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
case MOTOR_FRAME_TYPE_H: {
// H frame set-up - same as X but motors spin in opposite directions
_frame_type_string = "H";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },
{ -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7 },
{ -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5 },
@ -1037,7 +1036,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_CW_X:
_frame_type_string = "CW_X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 },
@ -1063,7 +1062,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 }, // forward-top
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 }, // forward-bottom
{ 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 }, // forward-right-top
@ -1082,7 +1081,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_X: {
_frame_type_string = "X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 }, // forward-right-top
{ 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 }, // forward-right-bottom
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3 }, // right-top
@ -1161,7 +1160,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS: {
_frame_type_string = "PLUS";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
@ -1178,7 +1177,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
case MOTOR_FRAME_TYPE_X: {
_frame_type_string = "X";
static const AP_MotorsMatrix::MotorDefInt motors[] {
static const AP_MotorsMatrix::MotorDef motors[] {
{ 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
{ 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 },
{ 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },

11
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -86,14 +86,6 @@ public:
// add_motor using raw roll, pitch, throttle and yaw factors
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order, float throttle_factor = 1.0f);
// structure to statically store motor information. Entries match
// the arguments to add_motor - with the exception of the type,
// for compactness.
struct MotorDefInt {
int16_t angle_degrees;
int8_t yaw_factor;
uint8_t testing_order;
};
// same structure, but with floats.
struct MotorDef {
float angle_degrees;
@ -102,8 +94,7 @@ public:
};
// method to add many motors specified in a structure:
template <typename T>
void add_motors(T *motor, uint8_t num_motors);
void add_motors(const struct MotorDef *motors, uint8_t num_motors);
// structure used for initialising motors that add have separate
// roll/pitch/yaw factors. Note that this does *not* include