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| author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-12-15 23:33:42 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-12-15 23:33:42 +0100 |
| commit | a2bcbabd161d629148ae3b9fcb181fddc5a8d1d1 (patch) | |
| tree | 3fa5eebf711f77f58c43f8ef8157cfa6347289d8 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | aa40c69853be0dc7e79bc3084472b77f9667c1f1 (diff) | |
| parent | 89e2e08de0e9f76114b095782167722597f298fa (diff) | |
| download | px4-firmware-a2bcbabd161d629148ae3b9fcb181fddc5a8d1d1.tar.gz px4-firmware-a2bcbabd161d629148ae3b9fcb181fddc5a8d1d1.tar.bz2 px4-firmware-a2bcbabd161d629148ae3b9fcb181fddc5a8d1d1.zip | |
Merge pull request #1481 from PX4/vtol_merge
VTOL architecture working with caipirinha
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 5908279d5..378e3427d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1351,7 +1351,10 @@ 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; @@ -1365,6 +1368,14 @@ protected: n = 6; break; + case MAV_TYPE_VTOL_DUOROTOR: + n = 2; + break; + + case MAV_TYPE_VTOL_QUADROTOR: + n = 4; + break; + default: n = 8; break; |