aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sub: Fixed motor mix factors for vectored ROV

Browse Source
This commit is contained in:
Rustom Jehangir 2016-01-18 21:39:24 -08:00
parent 2096cee131
commit d7e24315cf
1 changed files with 17 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
libraries/AP_Motors/AP_MotorsBlueROV.cpp
View File

@ -26,7 +26,7 @@ void AP_MotorsBlueROV::setup_motors()
// call parent
AP_Motors6DOF::setup_motors();
#define BLUEROV_VERSION 1
#define BLUEROV_VERSION 2
#if ( BLUEROV_VERSION == 1)
// hard coded config for BlueROV
@ -84,50 +84,50 @@ void AP_MotorsBlueROV::setup_motors()
//Front left
MOT_1_ROLL_FACTOR = 0.0,
MOT_1_PITCH_FACTOR = 0.0,
MOT_1_YAW_FACTOR = -0.25,
MOT_1_YAW_FACTOR = -1.0,
MOT_1_THROTTLE_FACTOR = 0.0,
MOT_1_FORWARD_FACTOR = -1.0,
MOT_1_STRAFE_FACTOR = -1.0,
MOT_1_FORWARD_FACTOR = -0.5,
MOT_1_STRAFE_FACTOR = -0.5,
//Left, facing up
MOT_2_ROLL_FACTOR = 1.0,
MOT_2_ROLL_FACTOR = -1.0,
MOT_2_PITCH_FACTOR = 0.0,
MOT_2_YAW_FACTOR = 0.0,
MOT_2_THROTTLE_FACTOR = -1.0,
MOT_2_THROTTLE_FACTOR = -0.5,
MOT_2_FORWARD_FACTOR = 0.0,
MOT_2_STRAFE_FACTOR = 0.0,
//Back left
MOT_3_ROLL_FACTOR = 0,
MOT_3_PITCH_FACTOR = 0,
MOT_3_YAW_FACTOR = 0.25,
MOT_3_YAW_FACTOR = 1.0,
MOT_3_THROTTLE_FACTOR = 0.0,
MOT_3_FORWARD_FACTOR = 1.0,
MOT_3_STRAFE_FACTOR = -1.0,
MOT_3_FORWARD_FACTOR = 0.5,
MOT_3_STRAFE_FACTOR = -0.5,
//Back right
MOT_4_ROLL_FACTOR = 0,
MOT_4_PITCH_FACTOR = 0,
MOT_4_YAW_FACTOR = -0.25,
MOT_4_YAW_FACTOR = -1.0,
MOT_4_THROTTLE_FACTOR = 0.0,
MOT_4_FORWARD_FACTOR = 1.0,
MOT_4_STRAFE_FACTOR = 1.0,
MOT_4_FORWARD_FACTOR = 0.5,
MOT_4_STRAFE_FACTOR = -0.5,
//Right, facing up
MOT_5_ROLL_FACTOR = -1.0,
MOT_5_ROLL_FACTOR = 1.0,
MOT_5_PITCH_FACTOR = 0.0,
MOT_5_YAW_FACTOR = 0.0,
MOT_5_THROTTLE_FACTOR = -1.0,
MOT_5_THROTTLE_FACTOR = -0.5,
MOT_5_FORWARD_FACTOR = 0.0,
MOT_5_STRAFE_FACTOR = 0.0,
//Front right
MOT_6_ROLL_FACTOR = 0.0,
MOT_6_PITCH_FACTOR = 0.0,
MOT_6_YAW_FACTOR = 0.25,
MOT_6_YAW_FACTOR = 1.0,
MOT_6_THROTTLE_FACTOR = 0.0,
MOT_6_FORWARD_FACTOR = -1.0,
MOT_6_STRAFE_FACTOR = 1.0;
MOT_6_FORWARD_FACTOR = -0.5,
MOT_6_STRAFE_FACTOR = -0.5;
#endif