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Copter: OctaQuad H-frame support

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This commit is contained in:
Randy Mackay 2013-10-18 10:41:07 +09:00
parent 210ca08abd
commit e0c4785b2a
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_Motors/AP_MotorsOctaQuad.cpp
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@ -39,6 +39,16 @@ void AP_MotorsOctaQuad::setup_motors()
add_motor(AP_MOTORS_MOT_6, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
add_motor(AP_MOTORS_MOT_7, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) {
// H frame set-up - same as X but motors spin in opposite directions
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8);
add_motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);