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Sub: Update control factors for vectored ROV

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This commit is contained in:
Rustom Jehangir 2016-01-25 19:58:31 -08:00
parent dc34ade395
commit e72b864108
1 changed files with 16 additions and 17 deletions
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33
libraries/AP_Motors/AP_MotorsBlueROV.cpp
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@ -23,14 +23,14 @@
// setup_motors - configures the motors for the BlueROV
void AP_MotorsBlueROV::setup_motors()
{
// call parent
AP_Motors6DOF::setup_motors();
// call parent
AP_Motors6DOF::setup_motors();
#define BLUEROV_VERSION 2
#if ( BLUEROV_VERSION == 1)
// hard coded config for BlueROV
float
// hard coded config for BlueROV
float
//Front left downward facing
MOT_1_ROLL_FACTOR = -0.5,
MOT_1_PITCH_FACTOR = 0.5,
@ -79,21 +79,21 @@ void AP_MotorsBlueROV::setup_motors()
MOT_6_FORWARD_FACTOR = 0.0,
MOT_6_STRAFE_FACTOR = 1.0;
#elif ( BLUEROV_VERSION == 2 )
//For a vectored configuration, the numbers would look something like this.
float
//For a vectored configuration, the numbers would look something like this:
float
//Front left
MOT_1_ROLL_FACTOR = 0.0,
MOT_1_PITCH_FACTOR = 0.0,
MOT_1_YAW_FACTOR = -1.0,
MOT_1_THROTTLE_FACTOR = 0.0,
MOT_1_FORWARD_FACTOR = -0.5,
MOT_1_STRAFE_FACTOR = -0.5,
MOT_1_FORWARD_FACTOR = -1,
MOT_1_STRAFE_FACTOR = -1,
//Left, facing up
MOT_2_ROLL_FACTOR = -1.0,
MOT_2_PITCH_FACTOR = 0.0,
MOT_2_YAW_FACTOR = 0.0,
MOT_2_THROTTLE_FACTOR = -0.5,
MOT_2_THROTTLE_FACTOR = -1,
MOT_2_FORWARD_FACTOR = 0.0,
MOT_2_STRAFE_FACTOR = 0.0,
@ -102,22 +102,22 @@ void AP_MotorsBlueROV::setup_motors()
MOT_3_PITCH_FACTOR = 0,
MOT_3_YAW_FACTOR = 1.0,
MOT_3_THROTTLE_FACTOR = 0.0,
MOT_3_FORWARD_FACTOR = 0.5,
MOT_3_STRAFE_FACTOR = -0.5,
MOT_3_FORWARD_FACTOR = 1,
MOT_3_STRAFE_FACTOR = -1,
//Back right
MOT_4_ROLL_FACTOR = 0,
MOT_4_PITCH_FACTOR = 0,
MOT_4_YAW_FACTOR = -1.0,
MOT_4_THROTTLE_FACTOR = 0.0,
MOT_4_FORWARD_FACTOR = 0.5,
MOT_4_STRAFE_FACTOR = -0.5,
MOT_4_FORWARD_FACTOR = 1,
MOT_4_STRAFE_FACTOR = -1,
//Right, facing up
MOT_5_ROLL_FACTOR = 1.0,
MOT_5_PITCH_FACTOR = 0.0,
MOT_5_YAW_FACTOR = 0.0,
MOT_5_THROTTLE_FACTOR = -0.5,
MOT_5_THROTTLE_FACTOR = -1,
MOT_5_FORWARD_FACTOR = 0.0,
MOT_5_STRAFE_FACTOR = 0.0,
@ -126,9 +126,8 @@ void AP_MotorsBlueROV::setup_motors()
MOT_6_PITCH_FACTOR = 0.0,
MOT_6_YAW_FACTOR = 1.0,
MOT_6_THROTTLE_FACTOR = 0.0,
MOT_6_FORWARD_FACTOR = -0.5,
MOT_6_STRAFE_FACTOR = -0.5;
MOT_6_FORWARD_FACTOR = -1,
MOT_6_STRAFE_FACTOR = -1;
#endif
add_motor_raw_6dof(AP_MOTORS_MOT_1, MOT_1_ROLL_FACTOR, MOT_1_PITCH_FACTOR, MOT_1_YAW_FACTOR, MOT_1_THROTTLE_FACTOR, MOT_1_FORWARD_FACTOR, MOT_1_STRAFE_FACTOR,1);