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master
libraries/AP_Scripting/examples/Motor_mixer_dynamic_setup.lua
49 строк
1 KB
George Zogopoulos
AP_Scripting: Typo fixes
06 авг 2024, 07:03
06 авг 2024, 07:03
9df4796
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-- This script is an example setting up a custom dynamic motor matrix -- allowing a vehicle to change geometry in flight -- this mixer is for a plus quad copter, the default SITL vehicle. -- Setup motor number (zero indexed) and testing order (1 indexed) Motors_dynamic:add_motor(0, 2) Motors_dynamic:add_motor(1, 4) Motors_dynamic:add_motor(2, 1) Motors_dynamic:add_motor(3, 3) factors = motor_factor_table() -- Roll for motors 1 - 4 factors:roll(0, -0.5) factors:roll(1, 0.5) factors:roll(2, 0) factors:roll(3, 0) -- pitch for motors 1 -4 factors:pitch(0, 0) factors:pitch(1, 0) factors:pitch(2, 0.5) factors:pitch(3, -0.5) -- yaw for motors 1 -4 factors:yaw(0, 0.5) factors:yaw(1, 0.5) factors:yaw(2, -0.5) factors:yaw(3, -0.5) -- throttle for motors 1 -4 factors:throttle(0, 1) factors:throttle(1, 1) factors:throttle(2, 1) factors:throttle(3, 1) -- must load factors before init Motors_dynamic:load_factors(factors) -- were expecting 4 motors assert(Motors_dynamic:init(4), "Failed to init Motors_dynamic") -- at any time we can then re-load new factors Motors_dynamic:load_factors(factors) motors:set_frame_string("Dynamic example") -- if doing changes in flight it is a good idea to use pcall to protect the script from crashing -- see 'protected_call.lua' example