SIM_Frame.cpp File Reference

#include "SIM_Frame.h"
#include <AP_Motors/AP_Motors.h>
#include <stdio.h>

Include dependency graph for SIM_Frame.cpp:

Go to the source code of this file.

Variables
static Motor	quad_plus_motors []
static Motor	quad_x_motors []
static Motor	tiltquad_h_vectored_motors []
static Motor	hexa_motors []
static Motor	hexax_motors []
static Motor	octa_motors []
static Motor	octa_quad_motors []
static Motor	dodeca_hexa_motors []
static Motor	tri_motors []
static Motor	tilttri_motors []
static Motor	tilttri_vectored_motors []
static Motor	y6_motors []
static Motor	firefly_motors []
static Frame	supported_frames []

Variable Documentation

dodeca_hexa_motors

Motor dodeca_hexa_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1),
    Motor(AP_MOTORS_MOT_2,   30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2),
    Motor(AP_MOTORS_MOT_3,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   3),
    Motor(AP_MOTORS_MOT_4,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  4),
    Motor(AP_MOTORS_MOT_5,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  5),
    Motor(AP_MOTORS_MOT_6,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   6),
    Motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   7),
    Motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  8),
    Motor(AP_MOTORS_MOT_9,  -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  9),
    Motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   10),
    Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   11),
    Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  12)
}

Definition at line 94 of file SIM_Frame.cpp.

firefly_motors

Motor firefly_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
    Motor(AP_MOTORS_MOT_2,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 6, 0, -90),
    Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5, -1, 0, 0, 6, 0, -90),
    Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4),
    Motor(AP_MOTORS_MOT_5,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2, -1, 0, 0, 6, 0, -90),
    Motor(AP_MOTORS_MOT_6, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6, -1, 0, 0, 6, 0, -90)
}

Definition at line 144 of file SIM_Frame.cpp.

hexa_motors

Motor hexa_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1),
    Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
    Motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5),
    Motor(AP_MOTORS_MOT_4,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
    Motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
    Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3)
}

Definition at line 50 of file SIM_Frame.cpp.

hexax_motors

Motor hexax_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
    Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
    Motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6),
    Motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
    Motor(AP_MOTORS_MOT_5,  30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
    Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4)
}

Definition at line 60 of file SIM_Frame.cpp.

octa_motors

Motor octa_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,    0,  AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1),
    Motor(AP_MOTORS_MOT_2,  180,  AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5),
    Motor(AP_MOTORS_MOT_3,   45,  AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
    Motor(AP_MOTORS_MOT_4,  135,  AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
    Motor(AP_MOTORS_MOT_5,  -45,  AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
    Motor(AP_MOTORS_MOT_6, -135,  AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
    Motor(AP_MOTORS_MOT_7,  -90,  AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7),
    Motor(AP_MOTORS_MOT_8,   90,  AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3)
}

Definition at line 70 of file SIM_Frame.cpp.

octa_quad_motors

Motor octa_quad_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
    Motor(AP_MOTORS_MOT_2,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7),
    Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
    Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3),
    Motor(AP_MOTORS_MOT_5,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
    Motor(AP_MOTORS_MOT_6,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
    Motor(AP_MOTORS_MOT_7,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
    Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6)
}

Definition at line 82 of file SIM_Frame.cpp.

quad_plus_motors

Motor quad_plus_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
    Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
    Motor(AP_MOTORS_MOT_3,   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1),
    Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3),
}

Definition at line 26 of file SIM_Frame.cpp.

quad_x_motors

Motor quad_x_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
    Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
    Motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4),
    Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2),
}

Definition at line 34 of file SIM_Frame.cpp.

supported_frames

Frame supported_frames[]

static

Initial value:

=
{
    Frame("+",         4, quad_plus_motors),
    Frame("quad",      4, quad_plus_motors),
    Frame("copter",    4, quad_plus_motors),
    Frame("x",         4, quad_x_motors),
    Frame("tilthvec",  4, tiltquad_h_vectored_motors),
    Frame("hexax",     6, hexax_motors),
    Frame("hexa",      6, hexa_motors),
    Frame("octa-quad", 8, octa_quad_motors),
    Frame("octa",      8, octa_motors),
    Frame("dodeca-hexa", 12, dodeca_hexa_motors),
    Frame("tri",       3, tri_motors),
    Frame("tilttrivec",3, tilttri_vectored_motors),
    Frame("tilttri",   3, tilttri_motors),
    Frame("y6",        6, y6_motors),
    Frame("firefly",   6, firefly_motors)
}

Definition at line 158 of file SIM_Frame.cpp.

tiltquad_h_vectored_motors

Motor tiltquad_h_vectored_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1, -1, 0, 0, 7, 10, -90),
    Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3, -1, 0, 0, 8, 10, -90),
    Motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4, -1, 0, 0, 8, 10, -90),
    Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90),
}

Definition at line 42 of file SIM_Frame.cpp.

tilttri_motors

Motor tilttri_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
    Motor(AP_MOTORS_MOT_2,  -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
    Motor(AP_MOTORS_MOT_4,  180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
}

Definition at line 117 of file SIM_Frame.cpp.

tilttri_vectored_motors

Motor tilttri_vectored_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 7, 10, -90),
    Motor(AP_MOTORS_MOT_2,  -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3, -1, 0, 0, 8, 10, -90),
    Motor(AP_MOTORS_MOT_4,  180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2)
}

Definition at line 124 of file SIM_Frame.cpp.

tri_motors

Motor tri_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,   60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
    Motor(AP_MOTORS_MOT_2,  -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
    Motor(AP_MOTORS_MOT_4,  180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
}

Definition at line 110 of file SIM_Frame.cpp.

y6_motors

Motor y6_motors[]

static

Initial value:

=
{
    Motor(AP_MOTORS_MOT_1,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
    Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5),
    Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
    Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4),
    Motor(AP_MOTORS_MOT_5,  60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1),
    Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
}

Definition at line 131 of file SIM_Frame.cpp.