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Plane: support better build time selection of multicopter frame type

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makes it possible to do "make sitl-tri"
This commit is contained in:
Andrew Tridgell 2016-05-01 09:45:14 +10:00
parent cb0ffc0e07
commit 89a2a92885
2 changed files with 17 additions and 5 deletions
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4
ArduPlane/quadplane.cpp
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@ -217,12 +217,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 1
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
#if FRAME_CONFIG == MULTICOPTER_FRAME
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad, 4:Y6
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0),
#endif
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
@ -318,7 +320,7 @@ bool QuadPlane::setup(void)
goto failed;
}
#ifdef AP_MOTORS_FORCE_CLASS
#if FRAME_CONFIG == TRI_FRAME
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor1, CH_5);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);

18
ArduPlane/quadplane.h
View File

@ -7,12 +7,20 @@
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AC_WPNav/AC_WPNav.h>
// uncomment this to force a different motor class
// #define AP_MOTORS_FORCE_CLASS AP_MotorsTri
/*
frame types for quadplane build. Most case be set with
parameters. Those that can't are listed here and chosen with a build
time FRAME_CONFIG parameter
*/
#define MULTICOPTER_FRAME 1
#define TRI_FRAME 2
#ifndef FRAME_CONFIG
# define FRAME_CONFIG MULTICOPTER_FRAME
#endif
#ifdef AP_MOTORS_FORCE_CLASS
#define AP_MOTORS_CLASS AP_MOTORS_FORCE_CLASS
#if FRAME_CONFIG == TRI_FRAME
#define AP_MOTORS_CLASS AP_MotorsTri
#else
#define AP_MOTORS_CLASS AP_MotorsMulticopter
#endif
@ -110,7 +118,9 @@ private:
AC_PID pid_accel_z{0.3, 1, 0, 800, 10, 0.02};
AC_PI_2D pi_vel_xy{0.7, 0.35, 1000, 5, 0.02};
#if FRAME_CONFIG == MULTICOPTER_FRAME
AP_Int8 frame_class;
#endif
AP_Int8 frame_type;
AP_MOTORS_CLASS *motors;