From bd8cd7174597edbe66f16975eb5f94f4fe074851 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 1 May 2016 10:52:41 +1000 Subject: [PATCH] SITL: fixed fwd motor angles for tri and y6 frames should be 60 degrees to have motors evenly spaced around frame for equal lift per motor when level --- libraries/SITL/SIM_Frame.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp index 8d7b0f4fd6..8f3810b360 100644 --- a/libraries/SITL/SIM_Frame.cpp +++ b/libraries/SITL/SIM_Frame.cpp @@ -86,25 +86,25 @@ static const Motor octa_quad_motors[] = static const Motor tri_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_CCW, 3), + Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, -45, 45, -1, 0, 0), }; static const Motor tilttri_motors[] = { - Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90), - Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90), + Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90), + Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90), Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, -45, 45, -1, 0, 0), }; static const Motor y6_motors[] = { - Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), - Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), - Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), + Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), + Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), + Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), - Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), + Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3) }; @@ -113,11 +113,11 @@ static const Motor y6_motors[] = */ static const Motor firefly_motors[] = { - Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), - Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), - Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), + Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), + Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), + Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), - Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), + Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90), Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3) };