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AP_Motors: Add DECA frame class and type string

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murata 2021-03-09 00:41:19 +09:00 committed by Randy Mackay
parent e727d08266
commit 8e8f2b93a7
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -990,8 +990,10 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
case MOTOR_FRAME_DECA:
_mav_type = MAV_TYPE_DECAROTOR;
_frame_class_string = "DECA";
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
_frame_type_string = "PLUS";
add_motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
@ -1004,6 +1006,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_10, -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10);
break;
case MOTOR_FRAME_TYPE_X:
_frame_type_string = "X";
add_motor(AP_MOTORS_MOT_1, 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);