Copter: add V frame support for Quads

b3orn · Apr 4, 2013 · 4fe904e · 4fe904e
1 parent 0015747
commit 4fe904e
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsQuad.cpp b/libraries/AP_Motors/AP_MotorsQuad.cpp
@@ -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);