38 lines
1.5 KiB
Lua
38 lines
1.5 KiB
Lua
-- This script is an example setting up a custom motor matrix mix
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-- this is the config for hexacopter with the motor rotations configured for improved fault tolerance
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-- see: https://arxiv.org/pdf/1403.5986.pdf
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-- duplicate the #defines from AP_Motors
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local AP_MOTORS_MATRIX_YAW_FACTOR_CW = -1
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local AP_MOTORS_MATRIX_YAW_FACTOR_CCW = 1
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local AP_MOTORS_MOT_1 = 0
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local AP_MOTORS_MOT_2 = 1
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local AP_MOTORS_MOT_3 = 2
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local AP_MOTORS_MOT_4 = 3
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local AP_MOTORS_MOT_5 = 4
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local AP_MOTORS_MOT_6 = 5
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-- helper function duplication of the one found in AP_MotorsMatrix
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local function add_motor(motor_num, angle_degrees, yaw_factor, testing_order)
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MotorsMatrix:add_motor_raw(motor_num,math.cos(math.rad(angle_degrees + 90)),
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math.cos(math.rad(angle_degrees)),
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yaw_factor,
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testing_order)
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end
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-- this duplicates the add motor format used in AP_Motors for ease of modification of existing mixes
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5)
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add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6)
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add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
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add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1)
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add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
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assert(MotorsMatrix:init(6), "Failed to init MotorsMatrix")
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motors:set_frame_string("fault tolerant hex")
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