fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 22:11:37 +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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+12 -1
View File
@@ -1358,7 +1358,10 @@ protected:
/* scale outputs depending on system type */ /* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR || if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR || 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 */ /* multirotors: set number of rotor outputs depending on type */
unsigned n; unsigned n;
@@ -1372,6 +1375,14 @@ protected:
n = 6; n = 6;
break; break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_QUADROTOR:
n = 4;
break;
default: default:
n = 8; n = 8;
break; break;