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| author | Roman Bapst <romanbapst@yahoo.de> | 2014-12-02 10:49:19 +0100 |
|---|---|---|
| committer | Roman Bapst <romanbapst@yahoo.de> | 2014-12-02 10:49:19 +0100 |
| commit | 0dc202502de8e879f427c94ce0c415f8a558c2fb (patch) | |
| tree | bfb1aa9396dd504dd5b312ce1ff8e35be9b18f7b /src/modules/mavlink | |
| parent | 9a64004d7ff60d0c4ca25877b34183631636112a (diff) | |
| download | px4-firmware-0dc202502de8e879f427c94ce0c415f8a558c2fb.tar.gz px4-firmware-0dc202502de8e879f427c94ce0c415f8a558c2fb.tar.bz2 px4-firmware-0dc202502de8e879f427c94ce0c415f8a558c2fb.zip | |
added VTOL geometries to determine number of motors
Diffstat (limited to 'src/modules/mavlink')
| -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 a8f956ad0..a68381f9f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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; |