From 4fe904ea78d0a6cee3e0f478c7a2d78f4d5db2a8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 4 Apr 2013 11:50:05 +0900
Subject: [PATCH] Copter: add V frame support for Quads
---
libraries/AP_Motors/AP_MotorsQuad.cpp | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/libraries/AP_Motors/AP_MotorsQuad.cpp b/libraries/AP_Motors/AP_MotorsQuad.cpp
index ba6876b5c..fc2758104 100644
--- 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);
--
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