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AP_Motors: Added Octo I frame

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1iggy2 2019-03-15 17:47:50 -04:00 committed by Randy Mackay
parent fc84995fb9
commit 7323a5da9d
2 changed files with 11 additions and 0 deletions
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10
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -649,6 +649,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor_raw(AP_MOTORS_MOT_7, 1.0f, 0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_8, -1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
break;
case MOTOR_FRAME_TYPE_I:
add_motor_raw(AP_MOTORS_MOT_1, 0.333f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -0.333f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_4, 0.333f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -0.333f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_7, -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_8, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
break;
default:
// octa frame class does not support this frame type
success = false;

1
libraries/AP_Motors/AP_Motors_Class.h
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@ -58,6 +58,7 @@ public:
MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering
MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering
MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering
MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only
};
// Constructor