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Copter: replace quad trapezoid frame with V

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Also update motor mixing
This commit is contained in:
Randy Mackay 2013-04-03 22:14:29 +09:00
parent 3bf847f675
commit e32cbd827b
2 changed files with 5 additions and 7 deletions
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11
libraries/AP_Motors/AP_MotorsQuad.cpp
View File

@ -23,12 +23,11 @@ void AP_MotorsQuad::setup_motors()
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_MOTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW, 3);
}else if( _frame_orientation == AP_MOTORS_TRAPEZOID_FRAME ) {
// To-Do correct motor mixing properly for trapezoidal frame
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_MOTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, 2);
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 45, 0.8877, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.1123, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.8877, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.1123, 2);
}else{
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);

1
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -35,7 +35,6 @@
#define AP_MOTORS_PLUS_FRAME 0
#define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2
#define AP_MOTORS_TRAPEZOID_FRAME 3
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490