50 lines
1.3 KiB
Lua
50 lines
1.3 KiB
Lua
-- This script is an example setting up a custom dynamic motor matrix
|
|
-- allowing a vehicle to change geometry in flight
|
|
|
|
-- this mixer is for a plus quad copter, the default SITL vehicle.
|
|
-- Setup motor number (zero indexed) and testing order (1 indexed)
|
|
Motors_dynamic:add_motor(0, 2)
|
|
Motors_dynamic:add_motor(1, 4)
|
|
Motors_dynamic:add_motor(2, 1)
|
|
Motors_dynamic:add_motor(3, 3)
|
|
|
|
factors = motor_factor_table()
|
|
|
|
-- Roll for motors 1 - 4
|
|
factors:roll(0, -0.5)
|
|
factors:roll(1, 0.5)
|
|
factors:roll(2, 0)
|
|
factors:roll(3, 0)
|
|
|
|
-- pitch for motors 1 -4
|
|
factors:pitch(0, 0)
|
|
factors:pitch(1, 0)
|
|
factors:pitch(2, 0.5)
|
|
factors:pitch(3, -0.5)
|
|
|
|
-- yaw for motors 1 -4
|
|
factors:yaw(0, 0.5)
|
|
factors:yaw(1, 0.5)
|
|
factors:yaw(2, -0.5)
|
|
factors:yaw(3, -0.5)
|
|
|
|
-- throttle for motors 1 -4
|
|
factors:throttle(0, 1)
|
|
factors:throttle(1, 1)
|
|
factors:throttle(2, 1)
|
|
factors:throttle(3, 1)
|
|
|
|
-- must load factors before init
|
|
Motors_dynamic:load_factors(factors)
|
|
|
|
-- were expecting 4 motors
|
|
assert(Motors_dynamic:init(4), "Failed to init Motors_dynamic")
|
|
|
|
-- at any time we can then re-load new factors
|
|
Motors_dynamic:load_factors(factors)
|
|
|
|
motors:set_frame_string("Dynamic example")
|
|
|
|
-- if doing changes in flight it is a good idea to us pcall to protect the script from crashing
|
|
-- see 'protected_call.lua' example
|