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master
libraries/AP_Scripting/examples/Copter_Motors_6DoF.lua
18 строк
861 B
Willian Galvani
autotest: add test for AP_Motors6DOF
25 мар 2026, 10:32
25 мар 2026, 10:32
e6b186e
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-- Replicate the standard Quad X frame via 6DoF scripting motor matrix -- Raw factors derived from angle-based Quad X definition: -- cos(angle+90) for roll, cos(angle) for pitch -- Motor # Roll Pitch Yaw Throttle Forward Lateral Reversible TestOrder Motors_6DoF:add_motor(0, -0.7071, 0.7071, 1.0, 1.0, 0, 0, false, 1) Motors_6DoF:add_motor(1, 0.7071, -0.7071, 1.0, 1.0, 0, 0, false, 3) Motors_6DoF:add_motor(2, 0.7071, 0.7071, -1.0, 1.0, 0, 0, false, 4) Motors_6DoF:add_motor(3, -0.7071, -0.7071, -1.0, 1.0, 0, 0, false, 2) assert(Motors_6DoF:init(4), 'unable to setup 4 motors') -- no dedicated forward/lateral thrusters, use tilt like a normal copter attitude_control:set_forward_enable(false) attitude_control:set_lateral_enable(false) motors:set_frame_string("6DoF Copter quad scripting") gcs:send_text(6, "6DoF Copter quad scripting")