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master
libraries/AP_Scripting/examples/MotorMatrix_fault_tolerant_hex.lua
37 строк
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Iampete1
AP_Scripting: add binding for setting motors custom frame string
05 янв 2022, 11:51
05 янв 2022, 11:51
cc5a867
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-- This script is an example setting up a custom motor matrix mix -- this is the config for hexacopter with the motor rotations configured for improved fault tolerance -- see: https://arxiv.org/pdf/1403.5986.pdf -- duplicate the #defines from AP_Motors local AP_MOTORS_MATRIX_YAW_FACTOR_CW = -1 local AP_MOTORS_MATRIX_YAW_FACTOR_CCW = 1 local AP_MOTORS_MOT_1 = 0 local AP_MOTORS_MOT_2 = 1 local AP_MOTORS_MOT_3 = 2 local AP_MOTORS_MOT_4 = 3 local AP_MOTORS_MOT_5 = 4 local AP_MOTORS_MOT_6 = 5 -- helper function duplication of the one found in AP_MotorsMatrix local function add_motor(motor_num, angle_degrees, yaw_factor, testing_order) MotorsMatrix:add_motor_raw(motor_num,math.cos(math.rad(angle_degrees + 90)), math.cos(math.rad(angle_degrees)), yaw_factor, testing_order) end -- this duplicates the add motor format used in AP_Motors for ease of modification of existing mixes add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2) add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5) add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6) add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3) add_motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1) add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4) assert(MotorsMatrix:init(6), "Failed to init MotorsMatrix") motors:set_frame_string("fault tolerant hex")