AP_Scripting: update 6DoF mixer example

This commit is contained in:
Peter Hall 2021-06-20 18:01:47 +01:00 committed by Randy Mackay
parent 716ceb93c5
commit c5c2b18a0b
2 changed files with 11 additions and 10 deletions

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-- This script loads the 6DoF mixer matrix for a 6 motor frame
-- https://youtu.be/QUDhnYvH66k
Motors_6DoF:add_motor(0, 0.003285, 0.470445, 0.031489, 0.885866, 0.563927, 0.031026, true, 1)
Motors_6DoF:add_motor(1, -0.373686, -0.267196, 0.092861, 0.789066, -0.223271, 0.495176, true, 2)
Motors_6DoF:add_motor(2, 0.370400, -0.203249, -0.053720, 0.841080, -0.340656, -0.526202, true, 3)
Motors_6DoF:add_motor(3, -0.146980, -0.216342, -0.338296, 0.001577, 0.900822, -0.460986, true, 4)
Motors_6DoF:add_motor(4, -0.205533, -0.035715, 0.359267, -0.048371, 0.010753, -1.013924, true, 5)
Motors_6DoF:add_motor(5, 0.143881, -0.227449, 0.375220, -0.046098, 0.811593, 0.431718, true, 6)
assert(Motors_6DoF:init(6),'unable to setup 6 motors')

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-- This script loads the 6DoF mixer matrix for the LynchPin frame
Motors_6DoF:add_motor(0, 0.012558, 0.391064, 0.069463, 0.867789, 0.507225, -0.015613, true, 1)
Motors_6DoF:add_motor(1, -0.385797, -0.187969, 0.106479, 0.782773, -0.243803, 0.479664, true, 2)
Motors_6DoF:add_motor(2, 0.373240, -0.203095, -0.105312, 0.865451, -0.263422, -0.464051, true, 3)
Motors_6DoF:add_motor(3, -0.153922, -0.166480, -0.345955, 0.003411, 0.908383, -0.456939, true, 4)
Motors_6DoF:add_motor(4, -0.210017, -0.010839, 0.379773, -0.056142, -0.014059, -1.035508, true, 5)
Motors_6DoF:add_motor(5, 0.142076, -0.202427, 0.347056, -0.030879, 0.861758, 0.471667, true, 6)
assert(Motors_6DoF:init(6),'unable to setup 6 motors')