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AP_Motors: added frame type 11 for Y6 to match FireFly6

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using same motor output mapping as AvA
This commit is contained in:
Andrew Tridgell 2017-02-06 15:01:51 +11:00
parent 0171b64feb
commit af44e9fdbd
2 changed files with 12 additions and 1 deletions
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10
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -588,6 +588,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6); add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
success = true; success = true;
break; break;
case MOTOR_FRAME_TYPE_Y6F:
// Y6 motor layout for FireFlyY6
add_motor_raw(AP_MOTORS_MOT_1, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_2, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
add_motor_raw(AP_MOTORS_MOT_4, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
success = true;
break;
default: default:
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2); add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5); add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -44,7 +44,8 @@ public:
MOTOR_FRAME_TYPE_H = 3, MOTOR_FRAME_TYPE_H = 3,
MOTOR_FRAME_TYPE_VTAIL = 4, MOTOR_FRAME_TYPE_VTAIL = 4,
MOTOR_FRAME_TYPE_ATAIL = 5, MOTOR_FRAME_TYPE_ATAIL = 5,
MOTOR_FRAME_TYPE_Y6B = 10 MOTOR_FRAME_TYPE_Y6B = 10,
MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6
}; };
// Constructor // Constructor