Skip to content
Snippets Groups Projects
Commit 4fe904ea authored by Randy Mackay's avatar Randy Mackay
Browse files

Copter: add V frame support for Quads

parent 0015747a
No related branches found
No related tags found
No related merge requests found
......@@ -23,6 +23,12 @@ 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_V_FRAME ) {
// V frame set-up
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);
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment