fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

added VTOL geometries to determine number of motors

Browse Source
This commit is contained in:
Roman Bapst 2014-12-02 10:49:19 +01:00
parent 9a64004d7f
commit 0dc202502d
1 changed files with 12 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1358,7 +1358,10 @@ protected:
/* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR) {
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
@ -1372,6 +1375,14 @@ protected:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_QUADROTOR:
n = 4;
break;
default:
n = 8;
break;