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SITL: support 3 more X quad motor orders

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- betaflight X
 - DJI X
 - clockwise X
This commit is contained in:
Andrew Tridgell 2019-02-01 14:29:52 +11:00
parent 9067e1099f
commit 40babb1172
1 changed files with 32 additions and 0 deletions
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32
libraries/SITL/SIM_Frame.cpp
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@ -39,6 +39,35 @@ static Motor quad_x_motors[] =
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
// motor order to match betaflight conventions
// See: https://fpvfrenzy.com/betaflight-motor-order/
static Motor quad_bf_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3),
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
// motor order to match DJI conventions
// See: https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
static Motor quad_dji_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, 4),
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, 2),
};
// motor order so that test order matches motor order ("clockwise X")
static Motor quad_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 135, 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, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
static Motor tiltquad_h_vectored_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, 7, 10, -90),
@ -161,6 +190,9 @@ static Frame supported_frames[] =
Frame("quad", 4, quad_plus_motors),
Frame("copter", 4, quad_plus_motors),
Frame("x", 4, quad_x_motors),
Frame("bfx", 4, quad_bf_x_motors),
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),
Frame("hexax", 6, hexax_motors),
Frame("hexa", 6, hexa_motors),